What happens when you're in the jira issue view? Do you have in the upper right the option "Export" with a drop down arrow? Select printable from that menu.
You could also right click somewhere in the page and from the browser's menu click print page.
@eric Warner, it doesn't look like vanilla Jira is going to be able to do the activity export. There is a feature request here:
Check out the associated workaround. It's not the cleanest solution but it should get you the information you need for the auditors.
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