I see; the battery icon is just a guideline, it's not an accurate representation of the battery level. It is too small to tell you anything more than "you're ok" or "charge me soon". Also, I don't believe the icon is gradual, it most likely has small set of steps, which could explain the discrepancy you see. For instance, the icon could show 50% when you are below 75% but above or equal to 50%, in which case you would see a half battery in the icon, when the menu could show anything between 50 and 74.
I usually don't worry about the battery until I get the warning, after which I still have a few hours worth of reading available.
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