Tim Murtagh (3-53) took two of the four wickets, Gareth Berg ending with 4-72.
BBC: Malan knock gives Middlesex hope of beating Glamorgan
And Tim Murtagh's eight-over new-ball spell of 2-19 began to vindicate Udal's decision to declare 91 runs behind.
BBC: Udal declaration sets up last day
Johnny Murtagh confirmed his position in racing's elite with his second Derby victory, this time on High Chaparral.
BBC: Johnny Murtagh
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