Once a drive is removed from a RAID array, the array becomes "degraded". The RAID controller should somehow alert you and ask for a replacement. The array will continue to function with the remaining drive(s) but is in danger should another drive fail before the array is repaired.
When you install a replacement drive, the controller will rebuild the array with the new drive. This will wipe out everything on that drive and its usually a rather time consuming process. This process isn't automatic in my experience. When you connect the new drive, you have to tell the controller to rebuild the array with it. I haven't used that particular product though.
Even if you reconnect the original drive you pulled 5 minutes earlier, the controller will still rebuild the array onto that "new" drive. RAID controllers synchronize data between drives at the block level, not the file level. So it won't just update existing files. It wipes out everything to integrate it into the array.
Constantly degrading and rebuilding an array will result in lowered performance since you'll spend a great deal of time in rebuilding mode. That's not what mirroring was designed for. All RAID levels above 0 are designed to increase uptime and/or increase performance beyond what a single drive can deliver. If that's what you want, then mirroring your data is a good idea. If you want another backup, just add another USB drive to your backup routine.