Thank you for your reply! I haven't had the pleasure of studying relativity, but if I understand what the equations are saying it is that with respect to an inertial observer, if the acceleration times the time is small, then c \tanh \frac{a\tau}{c} (remembering the Taylor series expansion of tanh) will just reduce to \frac{a\tau}{c} and velocity will equal acceleration times time, just as in standard Newtonian physics. If the fraction is large, however, tanh might be something like 0.99999, which shows that the velocity of the particle will asymptotically approach c.