An autonomous surface vehicle, known as a wave glider, was used to record refracted and reflected signals from a seismic source penetrating the shallow subsurface. An integrated survey system consisting of a wave gilder and a human-operated source vessel was deployed. These survey systems are used to acquire wide-offset seismic survey data from specific areas, such as offshore structures. The wave gliders can collect seismic refraction and reflection data, which can be used to estimate subsurface information, e.g., acoustic wave velocity and subsurface structure. We processed raw data collected by a receiver equipped with the wave glider and used the relationship between travel time and offset distance to calculate the velocities of shallow sedimentary deposits and the acoustic basement. The velocities of the sedimentary deposits and basement were estimated to be 1557 and 3507 m/s, respectively. We then overlaid the velocities on subsurface data measured using a single-channel streamer. Our results indicate that unmanned equipment can be used for ocean exploration to aid offshore energy development.