EDIT: Apparently you can exchange the ETF for the underlying securities at any point, and vice versa, so the ETF's price can't diverge much.
Specifically, in the case of SPY, if the ETF was trading higher than the underlying, they would short the ETF and go long an appropriate number of shares of each of the 500 companies. The difference in the price is their profit. The very act of doing this brings the two prices inline and eventually you sell both sides and close the position for realized gains.
Brokers let you do these transactions atomically. Of course, for transaction fees alone, this is not a strategy available to retail investors.
It also helps with tax efficiency since the creation/redemption process allows for shares with significant appreciation to be retired.