I am trying to determine if it is worth me refinancing my home?

I will have been in my home for 3 years this Feb. There are 2 main reasons for refinancing.
1) cashing out and paying off CC debt
2) Eliminating the PMI on current mortgage

I currently owe $140k @ 3.75

While I have not had an official appraisal, my realtor told me they would list my house somewhere between $180 - $190.

I would be looking to cashout with approx $15k.

Any advice would be greatly appreciated. Let me know if you would need any more detail.

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