In the book 'e: The Story of a Number', a derivation of a parachutist problem is given on pg. 109-110. A parachutist jumps from a plane and at $t=0$ opens his chute. At what speed will he reach the ground?
$k$ is proportionality constant. $g$ is acceleration of gravity. $m$ is mass of parachutist. (This derivation assumes air resistance is linear with velocity.)
I am able to follow the derivation up to equation 3.
$$\tag{1}m\frac{dv}{dt} = mg - kv$$
$$\frac{dv}{dt} = g - av \tag{2}, \quad a = \frac{k}{m}$$
$$\frac{dv}{g-av} = dt \tag{3}$$
How does one integrate (3) to get the following?
$$-\frac{1}{a}\ln|g-av| = t + c \tag{4}$$