If your in tough technical stuff, going under 10 mph then low is the correct gear. I will stay in low when I'm in an area that I know I'll be needing it frequently. On short runs I've gone as fast as 20 mph in low with no problems. Fuel mileage is poor in low, but for tough situations it will save your belt. Common sense is your best guide. I use high probably 95% of the time.
Mike
Mike