Google doesn't see the friendly URLs
Google will only index one version of the same page. It sounds like you have multiple URL's showing the same page. This is called dublicated content. Google will just choose one of the URL's, in your case, the wrong one.

When you enter mysite.com/node/6574 are you redirected to the friendly url? If not, then the GlobalRedirect module is not active or there is no aliases for the URL.

So make sure it's active and in admin/config/system/globalredirect check Deslash and Non-clean to Clean to further minimize dublicated content.

Also make sure that all internal and external links are pointing to your clean url's.

If the above is done, you just need to wait. Be patience - it can take weeks/months.

And forget about the sitemap. The important part is your internal links.