Sorry to dredge up such an old post, but I would like to add what worked for me in a single post.
I too was getting the "Unknown Error -4 in configuring a MIRRORRED device with members: 10010 10000" error on a 2200
I had a good 10000 (top) drive and a failed 10010 (bottom) drive.
I had to use
co de format 10010 /reinit to format the bottom drive
Reboot. Wait for it to format. Then
info devices showed 10010 as JBOD and 10000 as Broken Mirror.
I then issued a
co de config individual 10000 to set the good disk as JBOD as well as the new one
Reboot
Then issue
co de co mirror 10000 10010 to copy the data from 10000 to 10010
reboot and let it rebuild the mirror overnight and all was well.
I hope this benefits someone else in the future.