We report on theoretical and experimental results concerning the low-temperature specific heat of the frustrated spin-tube material [(CuCl2tachH)3Cl]Cl2 (tach denotes 1,3,5-triaminocyclohexane). This substance turns out to be an unusually perfect spin-tube system which allows to study the physics of quasi-one-dimensional antiferromagnetic structures in rather general terms. An analysis of the specific-heat data demonstrates that at low enough temperatures the system exhibits a Tomonaga-Luttinger liquid behavior corresponding to an effective spin-3/2 antiferromagnetic Heisenberg chain with short-range exchange interactions. On the other hand, around 2 K the composite spin structure of the chain is revealed through a Schottky-type peak in the specific heat. We argue that the dominating contribution to the peak originates from gapped magnon-type excitations related to the internal degrees of freedom of the rung spins.