Then the angel of Jehovah put forth the end of the staff that was in his hand, and touched the flesh and the unleavened cakes; and there went up fire out of the rock, and consumed the flesh and the unleavened cakes; and the angel of Jehovah departed out of his sight. And Gideon saw that he was the angel of Jehovah; and Gideon said, Alas, O Lord Jehovah! forasmuch as I have seen the angel of Jehovah. And Jehovah said unto him, Peace be unto thee; fear not: thou shalt not die. face to face.(Judges 6:21, ASV)
The only thing that we want to see here is that Gideon saw the messenger of Yahweh face to face and he thought he was going to die. As we have seen in other places, it is only when someone sees Elohim do they believe they are going to die. From this we can conclude that Gideon believed he saw Elohim, who is identified as the messenger of Yahweh.