The electric energy of wave gliders mainly comes from solar energy, which limits its application in cloudy conditions or at or at high latitudes. This paper presents a wave glider with a Gyroscopic Wave Energy Converter called the GyroWEC-Glider, which harnesses the pitch or roll motion of wave glider to generate electricity. The gyroscope's precession torque accelerates the rotor spin through the stimulation of the float's pitch motion, thanks to the gear constraints. The system's adaptability to random sea conditions is achieved through the use of a one-way bearing and torsion spring. Based on Fossen's equation and Euler's law, a dynamic model of the GyroWEC-Glider is established. Through simulation using MATLAB/Simulink, it was found that wave propulsion is minimally affected by wave power generation. The influence of the critical speed and torsional stiffness on power generation under irregular waves are investigated. Compared with the traditional wave glider, the GyroWEC-Glider is able to absorb 16.7% more wave energy, and provides an additional 24 W of electricity over the long-term average. It will be of great significance for expanding the application scenario of wave gliders.