It is only because you have a small sample size and thus a "poor" estimation of $S$, which may be greatly influenced by the new individuals. Try it out with $n < 10000$ and, as long as the new individuals is not a high impact outlier, you should obtain the approximately the same distance between individuals A and B when adding the $10001$th subject.
EDIT: To illustrate the answer below, try this code in R :
> library(MASS)
> S = matrix(c(1, .5,.5,1),2,)
> data = mvrnorm(n=1000,mu=rep(0,2),Sigma=S)
> cov(data)
[,1] [,2]
[1,] 1.0301079 0.4881467
[2,] 0.4881467 1.0292714
> round(mahalanobis(data[1:10,],center=mean(data),cov=cov(data)),4)
[1] 1.1544 2.5189 0.2999 0.6342 2.4010 2.2885 1.2370 1.6227 1.1656
[10] 1.3078
> new = mvrnorm(n=1,mu=rep(0,2),Sigma=S)
> data2= rbind(data,new)
> round(mahalanobis(data2[1:10,],center=mean(data),cov=cov(data)),4)
[1] 1.1544 2.5189 0.2999 0.6342 2.4010 2.2885 1.2370 1.6227 1.1656
[10] 1.3078
You can see that the 10 persons kept the same distance. We can even change the new $n$ individuals to 100 and mahalanobis distance won't change much
> library(MASS)
> S = matrix(c(1, .5,.5,1),2,)
> data = mvrnorm(n=1000,mu=rep(0,2),Sigma=S)
> cov(data)
[,1] [,2]
[1,] 0.9506534 0.4780387
[2,] 0.4780387 0.9835325
> round(mahalanobis(data[1:10,],center=mean(data),cov=cov(data)),4)
[1] 3.5866 7.0324 1.1189 2.0611 4.5880 0.1649 3.2801 4.4306 2.4925
[10] 1.9930
> new = mvrnorm(n=100,mu=rep(0,2),Sigma=S)
> data2= rbind(data,new)
> round(mahalanobis(data2[1:10,],center=mean(data),cov=cov(data)),4)
[1] 3.5866 7.0324 1.1189 2.0611 4.5880 0.1649 3.2801 4.4306 2.4925
[10] 1.9930
Considering all participants :
> library(MASS)
> S = matrix(c(1, .5,.5,1),2,)
> data = mvrnorm(n=1000,mu=rep(0,2),Sigma=S)
> cov(data)
[,1] [,2]
[1,] 0.9580746 0.4467521
[2,] 0.4467521 0.9838970
> head(round(mahalanobis(data,center=mean(data),cov=cov(data)),4))
[1] 0.3431 2.9275 5.2390 0.1425 0.5218 0.3120
> new = mvrnorm(n=100,mu=rep(0,2),Sigma=S)
> data2= rbind(data,new)
> head(round(mahalanobis(data2,center=mean(data),cov=cov(data)),4))
[1] 0.3431 2.9275 5.2390 0.1425 0.5218 0.3120
Mahalanobis distances remain approximately the same.