323J: Children search for Victorian explorer father

Looking for a YA book published 2008-2015-ish.  It is a kind of steampunk-y story about some children whose father has disappeared. He’s a Victorian-ish explorer and there are still vast expanses to be explored. The kids follow some clues and find a hidden world…maybe in a cave? I think the father was part of some sort of explorer’s society, too.

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