Reports using Issue History?

Is there a way to report on history for issues?  I'd like to generate a matrix report that has issue ids on the y-axis, and states on the x-axis.  Then I want to show the date and time of when each issue changed state for auditing purposes (eg. Open -> Sign-Off -> Done).  I can see this on a per issue basis on the history tab, but not in an overview.

Thanks for the help!

Kyle