The bigger the ship, the less you will feel the storms. Drake passage is terrible. Look for a cruise ship or big ship from Ushuaia.

Yeah! Its called Go Away!

http://www.wildlifetrails.co.uk/ A good friend of mine whom I got to know whilst travelling! A very personal approuch in your needs and whishes. I am about to go to Antartica, but have already been to India and Africa organised by Wildlife Trails, which was sublime!

I don't know companies, but if you get stuck in Ushuaia for a few days waiting for a free cabin, you won't be disppointed. Camping in Tierra del Fuego would be a dream.

Depends if you want best price or best experience? Best price you'll get locally by booking in Ushuaia....the operators hire people there to sell last-minute cabins. But the risk is they'll be sold out. So booking far ahead offers discounts usually too. The top companies I'd look into are Quark Expeditions, Peregrine Adventures and Heritage Expeditions.