In the North East, which I like to think is one of the most expensive parts of the country to get things done as well as being much nicer than the West Coast, I recently paid $2150 for a service upgrade. This included a new meter box, a new service entrance cable, one ground rod, permit fees and a new 200 amp panel (I supplied the breakers). A higher quote was $3000 (for which that company would have supplied the breakers). I did not get PVC conduit which I guess would be more.
So it looks like you may have paid top dollar, considering you did not get a panel replaced, but you did get two ground rods and a double meter.
The work was also done in a hurry. You've got to expect to pay more with emergencies.
Accessibility is important too. Mine was all open since I have an unfinished basement.
Bottom line: it's probably at the high end if you had got quotes, but nothing unfair.