It looks like this might be a compatibility issue with the watch and the phone. Possibly because your phone is running a much newer version of Android than the watch was programmed to work with.
I had the same problem just now. It seems I have been able to fix this by going into : Settings / Applications / The three dots / Autorizations.
After that I didn't search for anything specific ( like the error message said ) but I went through every single thing that requires an autorization, searched for everything related to Galaxy Wearable or Gear Module and autorized everything related to these two apps.
I hope this helps.
I don't have an authorizations option. I did go through the apps that I saw were related to Galaxy Wearable and Gear Module but didn't see any other permissions that I could add.