It sounds something like a horribly garbled version of Thunderbirds or maybe Stingray. However in Stingray the ( Fish-Men) vaguely like Japs!were the bad guys. The main characters in Thunderbirds were human beings, the Tracy Brothers of the future version of a salvage company- the International Rescue. They used a wide variety of vehicles including specialized aircraft and one submarine, the Thunderbird 4. Your description, which includes (Three D animation- not a bad description of Supermarionation which used puppets to get a three-D effect) but these shows were mainly about human, not animal, characters.