You could write a separate JSP file that creates the javascript. Then all static parts of the Javascript would be as usual:
var map;
<% for(Estado e: Eastado.values()) { %>
var mc<%=e.toString()%>;
<% } %>
var selecionado;
...
This JSP can then be loaded by the HTML page your other JSP creates:
<script type="text/JavaScript" src="path/to/jsp/file.jsp"></script>
If your script needs access to data, you could pass parameters via URL:
<script type="text/JavaScript" src="path/to/jsp/file.jsp?id=15"></script>
Then, in the script, in a filter or anything similar, you can directly use these parameters or use them to load data from a database or so.