I've never understood why USA PhD students appear to be paid so badly. My stipend was 36k USD (tax free, so compared favourably with the salaries of my friends who went into industry). I worked pretty much 9-5 with the occasional late nights, and got paid an additional $23/hr for work not related to my PhD (teaching, work on other research projects).
Interestingly if I'd gone into industry I'd have been earning much less than my equivalent in the USA.