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html - How to make a div expand to fit available vertical space?

I'm looking for a way to make the div that contains my main page content to expand to fit the space left after adding my header and footer. The HTML is laid out like so:

<div id="wrapper">
    <div id="header-wrapper">
        <header>
            <div id="logo-bar"></div>
        </header>
        <nav></nav>
    </div>
    <div id="content"></div>
</div>


<div id="footer-wrapper">
    <footer></footer>
</div>

It's designed so that the footer is always past the bottom of the page by setting the min-height of #wrapper to 100%. The problem is that #content doesn't expand to fill the empty space inside the #wrapper, making it difficult to get the look I want. How can I make it do that?

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EDIT:
Why not use top and bottom. Here's a full example.
You can tweak the top and bottom values, to optimize your header/footer placement.

<html>
 <head>
  <style type="text/css">
   BODY {
     margin: 0;
     padding: 0;
   }

   #wrapper {
     position: relative;
     height: 100%;
     width: 100%;
   }

   #header-wrapper {
     position: absolute;
     background-color: #787878;
     height: 80px;
     width: 100%;
   }

   #content {
     position: absolute;
     background-color: #ababab;
     width: 100%;
     top: 80px;
     bottom: 50px;
   }

   #footer-wrapper {
     position: absolute;
     background-color: #dedede;
     height: 50px;
     width: 100%;
     bottom: 0;
   }
  </style>
 </head>
 <body>
  <div id="wrapper">
    <div id="header-wrapper">
      <div id="header">
        <div id="logo-bar">Logo</div>
      </div>
      <div id="nav"></div>
    </div>
    <div id="content">Content</div>
    <div id="footer-wrapper">
      <div id="footer">Footer</div>
    </div>
  </div>
 </body>
</html>

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