While jm-'s answer is the best way to handle this case, for future reference it is possible to access child scopes using a scope's $$childHead, $$childTail, $$nextSibling and $$prevSibling members. These aren't documented so they might change without notice, but they're there if you really need to traverse scopes.
// get $$childHead first and then iterate that scope's $$nextSiblings
for(var cs = scope.$$childHead; cs; cs = cs.$$nextSibling) {
// cs is child scope
}