We develop a continuous-time state-space framework for the joint reconstruction of three Cenozoic climate proxies, benthic foraminiferal d18O and d13C and atmospheric CO2, from irregularly and unevenly sampled multi-site, multi-method data spanning the last 67 million years. The latent signals follow a trivariate random walk in continuous time; the measurement equation differentiates the error variance by drill site for the isotopes and by proxy group for CO2, with bias intercepts placing all sources on a common scale, and the transition equation lets the innovation covariance and a deterministic La2004 Milankovitch forcing depend on the prevailing climate state. All parameters are estimated by maximum likelihood through the Kalman filter with diffuse initialization. The estimated cross-proxy correlations reverse sign between the early Cenozoic greenhouse and the icehouse, the orbital sensitivity of the isotopes strengthens as continental ice sheets grow, and the reconstructed CO2 path, reported with calibrated confidence bands, places the atmospheric CO$_2$ thresholds of the major Cenozoic glaciations in relation to present-day concentrations.
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