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SB 5.24.7
upavarnitam bhumer yatha-sannivesavasthanam avaner apy adhastat sapta bhu-vivara ekaikaso yojanayutantarenayama-vistarenopaklpta atalam vitalam sutalam talatalam mahatalam rasatalam patalam iti.
Translation by His Divine Grace A. C. Bhaktivedanta Swami Srila Prabhupada:
My dear King, beneath this earth are seven other planets, known as Atala, Vitala, Sutala, Talatala, Mahatala, Rasatala and Patala. I have already explained the situation of the planetary systems of earth. The width and length of the seven lower planetary systems are calculated to be exactly the same as those of earth.