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Heimdall is an Asgardian blessed with sensory capabilities far beyond those of other Asgardians, and these senses have been put to use placing Heimdall in the role of gatekeeper to Asgard at his observatory on the Bifrost Bridge.
Despite his phenomenal ability however, Heimdall was unable to perceive an intrusion by several jotuns when they stole into the vaults of Odin. This same intrusion also sparked the ire of Odin's son Thor, who came to Heimdall, with several of his friends, seeking access to Jotunheim.
Although Heimdall agreed to let them pass and accepted their request that he keep their movements secret, his loyalty to Odin was stronger and he immediately reported their departure. Odin's reaction was swift and had Heimdall opening the Bifrost twice more in quick succession to allow Odin to retrieve his people.