Well, at $5/sq ft/mo. for average real estate (Manhattan, e.g. a 600 sq ft apt is $3K/mo), and if a parking space is 180 ft, then that's $900/mo., or $30/day, plus overhead/access.
So $30-50/day seems right, especially considering parking garages tend to be underground, no plumbing, etc., so the space is presumably cheaper than residential/office.