I usually alert the query and value parameters to make sure they construct properly.
In my constructions, I don't have the backward slashes. Also, the text strings are included in one double quote. Try:
var query = "<Query><Where><Eq><FieldRef Name='bscParentTask' LookupId='TRUE'/><Value Type ='Lookup'>"+ taskID +"</Value></Eq></Where></Query>";
var value = "[['Date Completed', " + dateComp + "]]"