Acredito que encontrei o que você está procurando, Hypernauts .
The premise of the series was that three cadets from the Academy of Galactic Exploration become lost in a Hyper Bubble (hyperspace) mid-jump and must band together with an alien named Kulai in order to survive in an unfamiliar part of the galaxy. Kulai (unbeknownst to the cadets) is a Chalim priestess from a planet called Pyria, a planet that was strip-mined by a warlike race called the Triiad, led by the Pyran traitor, Paiyin. The sole purpose of the Triiad is to wipe out intelligent races, and in the process acquire raw materials from their destroyed planets to continually create new war machines using automated self-replicating factory ships called "Makers."
O gigante verme de busca de calor está no terceiro episódio, "Icebound".
The Star Ranger begins to run low on water, so the Hypernauts land on a nearby ice moon where they discover an ancient space craft, and giant heat seeking worms.