Toss together the cilantro, mangoes, lime juice, jalapeno and red onions in a medium bowl. Divide half of the mixture among 4 glasses with a wide mouth, reserving the remaining half to top with.
Meanwhile, preheat a grill or grill pan to medium-high heat.
Add the shrimp to a large bowl and toss with the oil, 1/2 teaspoon salt and 1/4 teaspoon pepper. Grill the shrimp on each side until opaque and slightly charred, 1 to 2 minutes.
Add the shrimp to the 4 glasses with the salsa and top with the remaining salsa. Garnish with a plantain chip.
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