OK, here's the weird thing - I unplugged the drive that "failed" and the other drive. I rebooted and plugged them back in. The drive that "failed" is now mounting just fine and it seems that it got removed from the RAID. Now, the other drive doesn't mount.
Now I don't know what's wrong, but I moved my data off of the drive that works onto another external... should I try reformatting the drives?
And Disk utility says "SMART Status: Not Supported" so I'm not sure what to do.
Since they're acting weird like that I think it's just an OS error (which almost cost me a few GB of data!)