I saw this fun cartoon a few times growing up (and with only 17 episodes, that was more than I thought). it was sort of based on the 1959 Journey to the Center of the Earthversion, which is pretty enjoyable as well. I remember it better than normal as I had the "Big Little Book" that had an adventure with our heroes. still have it, too! it is called "The Fiery Foe".
I don't know why youtube isn't working so well, but click here for a clip of the cartoon.