To get the braille characters, install the console-braille console font:
sudo apt install console-braille
I recommend to do the next step over SSH, to undo changes if the console stops working. Edit the file /etc/default/console-setup to look like this:
# CONFIGURATION FILE FOR SETUPCON
Consult the console-setup(5) manual page.
ACTIVE_CONSOLES="/dev/tty[1-6]"
CHARMAP="UTF-8"
CODESET="guess"
FONTFACE="Terminus"
FONTSIZE="8x16"
VIDEOMODE=
The following is an example how to use a braille font
#FONT='lat9w-08.psf.gz brl-8x8.psf'
FONT='Lat15-Terminus16.psf.gz brl-16x8.psf'
Back on the console, load the new font settings:
setupcon
If the console now looks funny, revert your changes over SSH and use setupcon again. Check that your chosen fonts are present in /usr/share/consolefonts/.
This still won't give you the full unicode range of characters, but at least you'll have both regular Latin and braille characters now. Which should be fine for MapSCII (and other tools which want to display graphs with braille characters).