This is an alternating subtraction series with the interpolation of a random number, 5, as every third number. In the subtraction series, 3 is subtracted, then 4, then 3, and so on.
Here, every third number follows a different pattern from the main series. In the main series, beginning with 16, 10 is added to each number to arrive at the next. In the alternating series, beginning with 56, 12 is added to each number to arrive at the next.
Two patterns alternate here. The first pattern begins with 10 and adds 2 to each number to arrive at the next; the alternating pattern begins with 34 and subtracts 3 each time.