Set post title and slug to include entry ID

<?php
// for Help Scout 25535
add_filter('gform_post_data', 'set_post_title', 10, 3);
function set_post_title($post_data, $form, $entry){
    // Change the 23 here to your form ID
    if($form['id'] != 23)
        return $post_data;

    // set the title
    $post_data['post_title'] = 'Entry #' . $entry['id'];

    // set the slug too
    $post_data['post_name'] = 'entry-' . $entry['id'];

    return $post_data;
}