I remember an old cartoon from the mid to late 1980's called "Spartakus and The Sun Beneath The Sea" (Their spelling, not mine)
Synopsis courtesy of Wikipedia:
The story concerns a fictional lost city, Arkadia (named after the poetical fantasy land of Arcadia). This ancient civilization escaped a Great Cataclysm by relocating deep within the Earth, and was not aware life continued on the Earth's crust. Hoping to keep them safely away from the surface, their elders sealed all records of their past in the city's Archives. They survive by the light of an artificial sun, the Tehra, but it is dying, and something must be done. With no other options, a few Arkadian children defy the law and enter the Archives. Armed with information about the world above, they create a messenger, Arkana, and send her to find help.
She encounters two siblings from the surface, Matt and Rebecca, and brings them back through the underground strata to save Arkadia. They travel in a living spaceship called Tehrig, along with Spartakus and Bic and Bac (a couple of pangolins).
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