I had a scare once when I rode home from work. The bike felt vague when cornering so I got home as quickly as I could (!?!) and gave it a check over. I found a nail in the front tyre which I must have picked up on the way into work that morning. I found it because I checked the tyre pressures and found the front to be at 5psi, and I had been travelling at anything up to 80mph. Like I said, it gave me good scare.
If you are going off-road, this would be way too low as the rough terrain would certainly push it off the rim. 16psi sounds reasonable.