Resuming at 132 for four, Andhra Pradesh went on to score 410, riding on Majumdar's big century and some good batting by the Andhra lower-order batsman.
In their second innings, Jharkhand reached 20 for no loss with Akash Verma (15) and Rameez Nemat (5) at the crease.
Earlier Muzumdar began at his overnight score of 41 and played a crucial role in his side getting the big lead.
His 180 came off 275 balls and had 22 boundaries including two sixes. He was the last man out in Andhra innings as he was dismissed by Shankar Rao.
AG Pradeep, who was overnight 38, scored 56 before being trapped Ajay Yadav. D Shivkumar also batted well for Andra contributing 57 runs.
Brief Scores:
Jharkhand 257 and 20 for no loss in 9 overs.
Andhra: 410 in 119 overs. (A Majumdar 180, D Shivkumar 57 AG Pradeep 56; S Rao 4/98).
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