You can access the same map in the game on the nav map, it's on the top left corner and you can drag it down to take a look.
If you want to print it out, the image for the in-game map should be somewhere in the game files and that should produce a good quality print. I'm not on the computer with the install, but I think it'll be in the Data>Menu folder somewhere (sorry, that's a bit useless, but I'm sure someone will tell you where it is!)
Hope that helps!
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