The three-masted barque
Europa (originally built in 1911) offers 3-week sailing cruises from Ushuaia for EUR-5100.
In addition to a scheduled landing on the Antarctic continent, the vessel makes many stops in the islands of the Antarctic Peninsula. As well, the crew encourage your participation in the sailing of this traditional tall ship.
Feel free to PM if you have any questions about their programme... I've made several trips with them in the past, all of which were amazing.