Since the resistive force is linear (R = -bv), you can derive the following equation using differential calculus:
v = (mg/b)[1 - exp(-bt/m)]
(I assume you were given this equation, but I can derive it in detail if you need...)
Next you need to solve for the constant "b":
As t goes to infinity, vt = mg/b
The above equation for b is now:
0.5vt = vt[1 - exp(-b(5.54s)/9kg)]
Solve this for b to obtain b = 1.13 kg/s
Now that you know b, use the equation for when t goes to infinity:
vt = mg/b
vt = (9kg)(9.8 m/s2)/(1.13 kg/s)
vt = 78.3 m/s