I didn't realize you had to make a high altitude adjustment where you are. All canned products are going to have a certain degree of cooked, mushy texture. Can't be avoided though the Pickle Crisp helps to hold the cells intact. Crispness is why people like Refrigerator pickles so much.
Different recipes aren't going to change the texture. Experience with keeping the vegetable cold and using the pickle crisp are the real secrets. And of course the pickling cucumbers must be fresh. I get mine from the local farmers market if I don't have them growing in my backyard. I make pickles so often that I cheat and use the commercial mixes from BallŪ and Mrs.WagesŪ. Quick and easy.
Support bacteria. It's the only culture some people have.