Continuous-time autoregressive residual correlation ($\mathrm{Corr}(\epsilon (s),\epsilon (t))=e^{-\kappa |s-t|}$)

For $\kappa >0$, this error correlation decreases exponentially with elapsed time and permits irregular observation times. It is the stationary correlation of an Ornstein-Uhlenbeck process. Within a Gaussian linear mixed model, apply it to the errors conditional on random effects; the marginal correlation also includes those effects. nlme::corCAR1 parametrizes the same correlation by $\rho =e^{-\kappa }\in (0,1)$ and permits separate grouped time series.