As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
(CAN) PITCH ROLL MISMATCH, NO FD NO YD. NR 2 AHRS FAILED SHORTLY AFTER TAKEOFF. CREW ELECTED TO RETURN TO THE DEPARTED AIRPORT. NR 2 AHRS COMPUTER REPLACED, OPERATION & FUNCTION CHECKS C/W ON GND & SYSTEM CHECKS SERVICEABLE. ACFT RETURNED TO SERVICE.