As Alfredo wrote, one basic factor about GPL CMS systems is how big and active is the community grown around each one of them.
In this sense Wordpress, Joomla and Drupal are the ones I would consider.
Then, about how much SEO friendly they are, the first thing you have to know is that all of them have basic SEO features, but that for all them you have to implement new plugins, modules or components.
For instance, for Wordpress I would suggest the SEO plugin by Yoast, SEO Friendly Image and social sharing button (for instance Active Share by OrangeSoda)
Remember that Wordpress is a blogging system, even though it is possible to create more classic web sites with it too.
Joomla is interesting especially because of its community and the tons of devs that almost daily produce new plugins, modules and components for it. It is not so hard to learn too.
Its default SEO features are good, but it is better to install specific components that add more SEO functionality. The most popular are sh404SEF and JoomSEF, but I invite you to explore here to find other software you may need.
Drupal. Of the three is the hardest to learn, but many SEOs consider it best one. Regarding it I warmly suggest you to read this post on Search Engine Journal