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Hi,
This depends on which operating system you use on your PC.
I use lubuntu and have literally just done this myself so if you use Linux, run gparted. You then select the sd card and you will see a bar across the top showing the partition(s) on the card. You can then simply drag the partition to the right to enlarge the partition size to anything up to the full remaining size available, When you have done that click the "tick" to perform the resize. Simple as that.
If you use either Windows or Mac or do not use linux and don't want to use a live distro, you can find a lot of resources for them via google.
Good luck,
Mike
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