I wrote a tool that compares the order books between MtGox and Tradehill, just to see how much USD and BTC you would really need on deposit to make a reasonable profit. I used Tradehill and MtGox because they were the only 'live' exchanges with enough volume to make this even worth considering. What I found agrees with what other people have already said in this thread: arbitrage exists, but it's probably not worth chasing because of the large deposits required to generate profits. But I thought it might interest people to see some actual numbers. Here is an example from around 22:30 EDT today:
BUY TRADEHILL, SELL MTGOX
MtGox Sell Order: 183.5775 @ 18
Tradehill Buy Order: 183.5775 @ 17.5
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Requires: $3212.60625 on Tradehill, 183.5775 BTC on MtGox
Sold for: $3339.477523
Profit: $ 126.871273
Note that because moving USD around is very slow, you would actually need a lot more of it in your exchange account than these figures show, assuming you want to do more than one transaction like this per day. You can move the BTC back and forth in about an hour to restore your balances, but not so with the USD.