The key I've discovered to nicely organizing callbacks is to avoid anonymous callback functions unless absolutely necessary for a particular scope, or unless the function is going to be so trivial and short that it can be read in a single glance. By passing all longer, non trivial callback functions in by name you can break a task up into clear functional components, and then have all the asynchronous flow magic happen in one concise place where it is easy to determine the flow by looking at the async structure and the function names for each callback function.
Another major advantage to a code organization like this is that once you have your code such that each step has it's own discrete function instead of being some inception style anonymous function tucked away inside another function inside another callback it allows you to properly unit test individual functional steps to ensure that not only is your code working and bug free at the top level functions, but also that each of the individual asynchronous steps that may make up some of your more complicated logic are working properly.
Most of the bad examples of callback hell that I see have anonymous callback functions inside anonymous callback functions, often many levels deep. Of course that is going to be a nightmare to maintain and debug. Callbacks are not the problem though. Badly organized and written code is the problem. Callbacks allow you to write nightmarish code, but they also allow you to write some really beautiful and maintainable code if you use them properly.