I was able to work around this issue.
I have a 2010 MacPro running Mavericks 10.9.1.
I had read somewhere that before I RAID the drives it is best to Erase securely with zeros so the bad blocks can be identified. Sounds good. I did the secure erase (1 pass) -- took 5 hours. One note on this, I started one drive using the GUI Disk Utility application and then opened Terminal and started the other. The Disk Utility OSX GUI App only lets you do one at at time -- would have taken 10 hrs.
Let's name the two drives. "drive4" was zeroed with Disk Utility app. When zero was over it showed up in Disk Utility and I then did a quick non-zero format and it showed up on my dekstop as "drive4".
Let's name the other drive "drive3". This one I zeroed from the Terminal. When complete it showed up in Disk Utility GUI app only as main hard drive -- no sub label. I could not even do a quick erase again. I finally erased it from "diskutil" Terminal and it then showed up in Disk Utility GUI. From Disk Utility GUI I then did another quick non-zero (just regular) erase and now both drive4 and drive3 were showing on desktop.
At this point I then realized there was no RAID option. Read this thread and do not have an external Raid enclosure. I did an "eject" of both "drive4" and "drive3" from my desktop. From the Terminal I did a "diskutil list" to show the drives. Found the ones I needed and issued the "diskutil createRAID mirror raid0 JHFS+ disk1 disk2" command -- note here that the two drives were showing up as "disk1" and "disk2" under the "IDENTIFIER" column of the output for "diskutil list" command. This createRAID worked perfectly.
I then went to Disk Utility GUI app and the RAID look just like the RAID for the other two drives that I have in my MacPro. The RAID tab is now there and everything. No external drive enclosure needed.