Rudolph steered the visitors to within 110 of Sri Lanka with able assistance from Nicky Boje.
BBC: Rudolph's gritty display has kept South Africa in the hunt
Klusener and Kallis' performance eclipsed nightwatchman Nicky Boje and opener Gary Kirsten's 161-run partnership on Friday.
The former England one-day international hit 13 fours in scoring 105 before falling to Nicky Boje.
Boje claimed the wicket as Gallian hit him straight down Rob White's throat at mid-on.
"You've got to make the talk on the field, you can't do it off the field, " says captain Boje.
But, bizarrely, Richard Pyrah bowled a no-ball, which was clouted for six by all-rounder Nicky Boje over long leg.
And Boje then smashed the following delivery through midwicket for four to claim a share of the spoils on 180-5.
Hopes of a swift conclusion to the innings were soon ended by Boje, who showed particular relish for the cut shot.
And the former Leicestershire batsman eventually reached his half-century off 128 balls as he drove Boje to the backward point boundary.
Some players who would be affected by a rule change include Lance Klusener, Nicky Boje, Hylton Ackerman, Jermaine Lawson and Deon Kruis.
Both Northants' spinners struggled with the conditions, Panesar finishing with figures of 1-88, while South African all-rounder Boje (1-81) fared little better.
Gallian was removed by Nicky Boje and Maunders by England's Monty Panesar.
In the final over, Pettini joined the 50 club as he hit Boje for another six before reaching his half-century with a single.
The pair put on 53 before wicket-keeper Romesh Kaluwitharana took a low one-handed catch off the bowling of Chaminda Vaas to dismiss Boje for 31.
BBC: Rudolph's gritty display has kept South Africa in the hunt
Klusener and spinner Nicky Boje suffered the heaviest punishment as first Elahi and then Razzaq - with his first one-day hundred - reached three figures.
The assault continued after tea, but White was to fall seven short of a double century, leaving Nicky Boje to accompany Hall to the close.
Spinner Boje did the damage in the second innings taking 5-88.
BBC: Rudolph's gritty display has kept South Africa in the hunt
Gibbs and Boje were accused, along with then captain Hansie Cronje and team-mate Piet Strydom, of being involved in match-fixing during a tour in 2000.
BBC: Boje denied match-fixing but Gibbs admitted taking money
Sanath Jayasuriya plucked out Martin van Jaarsveld and nightwatchman Nicky Boje in one over to reduce South Africa to 116-3 in reply to the hosts' 470.
But that still did not prove enough as Boje took advantage of the two-run penalty for no-balls in this competition to somehow snatch an improbable tie.
The only black mark on Peters' otherwise brilliant innings was when he inadvertently helped dismiss his skipper Nicky Boje in a freak run out for five.
Alex Wakely's 51 and former captain Nicky Boje's 42 from 56 balls steered the hosts towards victory after they had been reduced to 88-5 chasing 171.
BBC: Hall starts with a win as Northants squeeze past Sussex
Peters hit Harris for a perfect straight drive, but the bowler reacted quickly to deflect the ball onto the stumps, leaving Boje stranded out of his crease.
Chris Nash claimed the wickets of Boje and Wakely, caught by Collymore and Prior respectively after valuable scores, before Middlebrook and Willey ensured Northamptonshire's third win of the season.
BBC: Hall starts with a win as Northants squeeze past Sussex
With both teams going for promotion, a draw suits neither side but a result is dependent on Pettini and opposing captain Boje reaching an arrangement for the final's day play.
New batsmen Pettini went on the offensive as the day drew to a close, hitting Boje for six over the long-off boundary before dishing out the same treatment to Panesar.
But the Indian saga has provided the backdrop to his life in recent weeks, as both he and spin bowler Nicky Boje were asked to submit written answers to questions supplied by Delhi police.
Northants are targeting success in the Friends Provident Twenty20 - which gets underway in June - as Vaas joins forces with fellow internationals Andrew Hall, Nicky Boje and Elton Chigumbura in the Steelbacks' attack.
Dalrymple lost both Ben Wright, caught at slip off Daggett, and Michael Powell, who was trapped in front by Hall, and then, in the final over of the day, the captain was caught at slip off Boje.
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