The US Department of Housing and Urban Development (HUD) Directive Number 4460.1 "Architectural Analysis and Inspections for Project Mortgage Insurance" para 1-4M4c suggests, "At least one boring must be made for every 2500 sq. feet of foundation area. For buildings supported on pilings, one boring must be made for every 1600 sq. ft. of foundation area."
para 1-4M4d says, "Borings must be at least to the bottom of proposed footings and deep enough to locate bearing strata that will support the proposed structure. When rock is encountered, depth of drilling into rock shall be at least 5 feet or enough to establish rock quality regarding voids, fissures and strength, or whether it is a bolder."
para 1-4M6 says, "Additional information must be required when unusual soil conditions may effect foundation design."