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15% is the standard.  Good service earns more than 15%, poor service 10% or below if it's extremely poor.

I also feel that it depends greatly upon the price of food.  If I feel I've received good service, I'll tip at least 3 or 4 bucks even if the food was only $10.  In a college town, restaurants are very cheap because college students can't afford to splurge.  Likewise, college waiters could really use the money, so give em a few bucks.

I feel that you can't really understand tipping unless you've worked at a job that takes tips.  I worked as a valet at a really nice steakhouse, busted my ass all night in the cold, and cleared $150 cash a night during the winter.  One extra dollar per customer can make a big difference for people.