Depends on how mango trees react to your local climate. Here in FL, 8 foot spacing would not work past year 3, but I know the spoiled Californians can get away with ultra-close spacing.
You need to figure out how much the trees are going to grow in a single season in your area. From there you can figure out whether or not an annual pruning will be able to control them. If a typical mango tree puts in 4 feet per season in your area, cutting them back to a 4 foot stump each year is going to put a dent in your production. But if they only grow 2 feet a year, you might be able to swing an 8 foot space.
My recommendation, without knowing anything about growing mangoes in your area, would be to do 2 rows spaced 16 feet apart with 3 trees in each row. You can then put the smaller 3 trees on the south side, which will prevent them from shading out the trees on the north side (shadow will be cast on the north side, as equator is south of you).