Negotiating is simple. Once the sales guy knows you're interested and not just a looky-loo, cut the crap and go straight for the bone. What is the out-the-door price? You'll have to add whatever the tax rate in your county is to that. Assuming it's around 8%, that'll add another $1200 to the price. They may try to nail with you with a "dealer prep" or "delivery" fees. Refuse to pay them. "Dealer prep" is putting oil in it and making sure it starts. Takes around 5 minutes and they try to charge you $100 or more for it.
Tell them you will offer $16k out the door. You don't care how that money is divvied up between the actual bike, fees, tax, ect, but that's your offer. If he hee-haws, says he can't take that much off, it's already xxxx below msrp, yadda yadda, ask if he would like to ask his manager about it. If it still doesn't go anywhere, don't be afraid to get up, say thanks for your time, and leave. Be surprised how effective walking toward the door can be. 5 steps got me another $500 off the price of my truck. "Well sir, wait, let me ask my manager again....."
Come back a week later and try again. If they know you're "hanging around", and only a few hundred bucks is stopping the purchase, they'll let it go. Especially if it's a 2010, it's been sitting around their store for a while and they probably want to get rid of it.