Are we paying too much for Private Mortgage Insurance?

Recently refinanced our primary home to 30 year fixed mortgage.  Appraisal came in at $330,000 and we borrowed $285K.  We are paying $173.38 for the PMI every month. We have 810 credit score. Are we paying too much?  At the clsoing, we only received the PMI disclosing documents, listing how much we need to pay and when we can stop paying it, etc, but not the certificate itself. We still don't know who is our PMI company and contacted the broker and the bank, nobody can give us any answer or send a copy of the PMI certificate to us.