Engraved by William Kip for publication in the 6th edition (the first to include maps) of William Camden's Britannia in 1607. Based on the map and survey by John Norden of 1598 (also engraved by William Kip), trhe map appeared in two further editions of Camden's Britannia; The first English English translation (from the Latin) by Philemon Holland, published in 1610 and 1637. The map is unchanged in all editions with the exception of a plate number 16 added to the bottom left corner in later issues of the 1610 edition and the final 1637 edition. The first issue of 1607 included Latin typeset text on the reverse.
This example from the second 1610 or 1637 edition.