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I started in the ATA in 85.
I won't debate Jai, there are many schools that are belt factories, I think the term McDojahng started with some of those etc. Some aren't such, and are very good schools, some are and avoid at all costs.
The ATA started in 69 and became the USA arm of the ITF. The original president was GM Kang (8th in CDK, now is the senior most TKDoin alive), then GM HU Lee, now SH Lee.
As far as the differences between organizations - the WTF and the ITF (the one I referred to above) have much in common, but also some significant differences. The WTF, to my understanding, is a sanctioning organization - member organizations/schools determine much of what they teach for themselves. The ITF I referred to above was founded to promote a particular TKD kwan, and is much more involved in determining the technical requirements of its members than the WTF is, at least the way I understand it - those who know more about the WTF please chime in and correct me if I'm wrong.