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The molten pool depth measurement method using an ultrasonic phased array system has been developed. The molten pool depth distribution is evaluated by comparing the times taken by the ultrasonic wave to propagate through a molten pool and a solid-phase and through only the solid-phase near the molten pool. Maximum molten pool depths on a flat type-304 stainless-steel plate, formed with a gas tungsten arc welding machine for different welding currents from 70 to 150 A, were derived within an error of ±0.5 mm.