Stealing back Atlantis? FOUND

Looking for a post series story.  The bulk of the expedition decides to steal back Atlantis and fly it back to Pegasus.  When the meet up, Richard Woolsey is there with his dog and says something like, "I was normal before I met you people." and John says, "we love you too Dick."

Thank you in advance for your help.

ETA:  FOUND by keiramarcos.  It's The Surly Bonds of Earth by Mad_Maudlin