TV show from 5 years ago.?

What's the kids TV show from PBS or noggin that had a little girl with a explorers hat and she would take a map or other stuff out of it. I think she had two friends one was a giant yellow red polkadotted horned fourlegged animal but he sort of had a human face. her second friend was...a pig?or a penguin? I can't remember. Please tell me the name of this show!