I'm sure this has been asked a million times...

The link you provided shows a video that is 4:3, with 16:9 letterbox footage after the open.

To fill the frame, you need 16:9 footage. So shooting 24pa in squeeze mode is the first step. Once edited, you can export it at 854x480 for 16:9 SD, or you can "uprez" it to 1080x720 for HD specs.
 
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