Change Git submodule paths recursively

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I have a huge list of sub modules whose URLs must be changed:

 - from URL = ssh://git@sw-depot.sss.foo.com:8080/base/submodule_name.git
 - to   URL = ../../base/submodule_name.git

How can I do this using git submodule foreach, without using any other scripts?

I have used python script to fetch all URLs and replaced required string literals but I would like to know if there is way to do it with regex in Git.

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