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I think if the pdf is on the sd card and you use QuickOffice filemanager to browse the folders, if you hold your fimger onto the pdf file for a few seconds, a menu will pop up and give you a list of which pdf viewers you have available and you chose one. You may then be able to also say to use this as the default.
If you use the regular file viewer, i don't know any way to chose or change the default, but try the same holding your finger method with that too. I forget how it behaves then.
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