Hi Matt,
your dts seems not to be complete.

Please append following code after your existing fragment@0 section:

fragment@1 {
        target = <&ocp>;
        __overlay__ {
                /* avoid stupid warning */
                #address-cells = <1>;
                #size-cells = <1>;

                gpio1_16_test {
                        compatible = "bone-pinmux-helper";
                        pinctrl-names = "default";
                        pinctrl-0 = <&bb_GPIO1_16_pins>;
                        status = "okay";
                };
        };
};

Now you should get the expected value:
pin 16 (44e10840) 00000007 pinctrl-single

(I successfully checked the overlay on my bone)

regards
Ralf

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