was a telling statement for me. If your project has any plugins already strapped on, it will increase the latency as Cubase kicks in the plugin delay compensation.
1) In the Antelope control panel set the ASIO USB Streaming mode to the lowest setting. You have it set to Extra Safe. That is going to negatively affect your latency. Upward 20ms if I remember correctly.
2) Make a new project or disable ALL the plugins in the current project (Don't just bypass, you must disable the plugin). It's not really how many tracks you're running, it's the plugins. You have to get in the habit of not mixing while you're tracking.
I'm running an old(ish) Dell Precision 5500 with half the specs of your machine and I can get 4ms of latency with Cubase 6/7, recording 24 tracks at once through my Orion.