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You can change which browser Sage will launch by running the following terminal command:

export SAGE_BROWSER="firefox"

(replace "firefox" by the browser of your choice).

If you want to make this permanent, add this line the .bashrc or .bash_profile file in your home:

export SAGE_BROWSER="firefox"

You can also run this command from inside Sage just before launching the notebook; just prepend it by an exclamation mark.

sage: !export SAGE_BROWSER="firefox"
sage: notebook()

By the way, instead of the legacy SageNB notebook, you might want to switch to the new Jupyter notebook. You can start it by running in a terminal

sage -n jupyter