The error means that specific commit (its sha1) is not reachable from any of the refs while cloning your submodule, so you should either update your submodule with valid reference or reset the changes to the latest version.
This may happen when you've new commits in your fork, local or you've included references to your detached HEAD, but you haven't push them into your main repository to which submodule git URL points to.
To reset submodule manually to origin/master, enter subdir of submodule and do the reset, e.g.
cd client/src/util
git reset origin/master --hard
If you'd like to correct the reference in the main repo, after doing above commit the changes:
# Still in submodule dir.
git pull origin master # In submodule dir.
git push origin master
cd - # Go back to the main repo dir.
git status
git commit -am 'Update submodule refs'
git push
If you'd like to pull and push the references from fork to origin, you can try:
cd client/src/util # Go to submodule dir again.
git remote add fork git@github.com:example/foo.git
git pull fork master
git show a094dcfeeb43fcd62a9e466156e05e7581026f33 # Check previously missing sha1.
git push origin master:master # Or: master:some_branch