Concurrent field monitoring is currently limited to observation times in the order of 100 ms. However, for many purposes it is desirable to determine field dynamics continuously without interruption. To address this need we propose model-based gradient impulse response function (GIRF) harvesting, where GIRFs are continuously updated during the MR experiment. From the harvested GRIFs and the known input to the gradient chains, continuous gradients are obtained. The model-based approach allows to robustly determine continuous gradient fields with high precision. The method is demonstrated by stabilizing a gradient-demanding EPI scan.