Sylvia Earle is the ship we suggest to people who want to do things in Antarctica, not just see it. Aurora built it around a mudroom with individual lockers and drying space for dry suits and wetsuits, and it supports add-on activities from sea kayaking to diving and ski touring. The Antarctica Active voyage bundles many of these in. With 130 guests at most and 15 Zodiacs boarding through four doors, landings move quickly.
The Ulstein X-BOW hull is shaped to cut through the swell rather than ride over it, which helps on the Drake Passage. It does not make the crossing calm, but people prone to seasickness tend to be glad of it. There is a real science programme too: a Citizen Science Centre, lecture theatre and a team of naturalists, so the evenings are full of talks worth staying up for.
It is warm and relaxed rather than formal. Meals are open seating, house wine and beer come with dinner, and the pool and two hot tubs on the back deck are where people gather after a cold landing. If a marble bathroom and a tasting menu matter more to you than time on the ice, look at a larger ship instead.