South Australia went into the final day at 4-181 in their second innings – still 68 runs behind – but were bowled out for 235 before lunch.
James Hopes was the main destroyer for Queensland, taking 4-32 to give him figures of 8-84 for the match.
Bulls keeper Chris Hartley finished with 10 catches in the match, with his career total of 521 taking him past Wade Seccombe for most shield dismissals by a Queensland wicketkeeper.
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