As stated by others, what you are trying to do, can,t be done with a single 12 volt battery -- as 16.5 volts will destroy the battery in time -- a very short time !!
If you use two batts producing 24 volts ( actually, more) then regulate the output voltage at 16.5 -- you can accomplish your goal -- and both batts can be charged by a 12 volt panel !!
However, if your 16.5 volts are critical, it is going to take a pretty sufisticated regulator -- most swing obove or below the preset voltage -- but it can be done -- others here, more versed at electronics than I , can tell you how to do that..
The amperage is easy, what ever you are operating will determine that rateing, and I would recommend two sealed, lead acid batteries of about 16 amp hours, as they are available and easy to maintain --- the load requirement in milliamps make that an easy choice !!
Much luck to you, Bill H.....