lichte
Hello.
I think i can help you with advice. I work with angular about a year. So i've met the same problem with single page apps and SEO.
So, i see two solutions:
1. Make a sitemap with prerendered html pages (Phantomjs as an option), on your backend you have to determine search bots requests and send prerendered page. It is a common solution.
2. On your backend your have to parse urls with some url manager and send response with full generated page,
On your frontend you just need to bootstrap angularjs application, so the SPA functionality will be ready for a real user. Perhaps you need to turn on html5mode.
If you are intrested you can ask me some questions in skype - jdslon.
Good luck!