I'm not certain but it looks like the extruder is skipping back and causing extrusion in a few areas. You might want to consider sanding, filling, and then painting.
Anyway, if it *is* skipping backwards there are many causes of underextrusion. The quick fix is to print slower and hotter. I would try 240C at 40mm/sec.
Your current settings of 210C, 55mm/sec at .2mm is right at the limit of what a um2 can do. You are right on the blue line of the graph (first image in below link). I recommend printing at half that speed of the blue line so for 55mm/sec you should be fine at 240C.
http://umforum.ultimaker.com/index.php?/topic/4127-um2-extrusion-rates-revisited/
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Based on the photo, you've got a little bit of underextrusion or it seems so. You may try to raise the temperature a little bit, combined with slower speed and the cleaned nozzle. It will make the bridges you have trickier, but this is the trade-off you should try to balance.
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