DETROIT, MI -- Mayor Mike Duggan in his State of the Union address Tuesday night said city lawyers are looking into litigation against high-paid consultants who underestimated pension debt during the city's bankruptcy case.

It was Duggan's third State of the City speech, but his first after running day-to-day operations for a significant amount of time.

Duggan took office at the start of 2014, when the city was still in bankruptcy and under control of a state-appointed emergency manager.

Emergency management ended in December 2014 after Detroit exited bankruptcy, and while a financial advisory board maintains budget oversight, Duggan controlled city government throughout 2015.

He celebrated gains the city has seen in street lighting, busing, ambulance response time and finances, but acknowledged that the city's revitalization is not reaching a lot of neighborhoods.

"We know we've got a long way to go," Duggan said.

Early in the speech, Duggan lamented a costly miscalculation that occurred during the city's bankruptcy case.

After a 10-year post-bankruptcy honeymoon period ends in 2024, the city will have to pay $193 million in contributions to the city's old pension systems, far more than the $111 million projected in the bankruptcy plan crafted by former Emergency Manager Kevyn Orr and an army of consultants.

(More on that here.)

"We're going to have to address this problem. We're going to do it honestly and forthrightly... One: We're not going to panic... Two: We are not asking anybody for a bailout... We've said all along we want the right to self-determination."

The underestimation was the result of using outdated mortality rates.

And Duggan said city attorneys will "review any possible legal claims against consultants."

"I want to know how we could have paid these guys $170 million," Duggan said.

More highlights from the speech, including the renewal of a promise to hire 200 new Detroit police officers, to come.