Nested loops using async.js

I want to do a very simple code, where I have two nested loops in javascript that print out the index they are currently on. (it's the base for something else i want to do). The inner loop has a timer, so it should wait 1 second before printing each number.

I would expect this output:

outer count: 0
inner count: 0
inner count: 1
inner count: 2
inner count: 3
inner count: 4
in out 
outer count: 1
inner count: 0
inner count: 1
inner count: 2
inner count: 3
inner count: 4
in out

etc, but this is not happening. Is there some obvious mistake in my code? can async whilst functions even be nested? please help! :(

This is my code so far:

var count = 1;
        async.whilst(
        function() {return count < 5},
        function(callback){


            var icount = 0;

            console.log("outer count:" + count);

            async.whilst(
                function () { return icount < 5; },
                function (callback) {
                    console.log("inner count:" + icount);
                    icount++;
                    setTimeout(callback, 1000);
                },
                function (err) {
                    // 5 seconds have passed
                    console.log("in out");
                }
            );

            count++;

            callback();

        },
        function(err){
            console.log("out out");
        }
        );