If you look at the Wikipedia page for second order arithmetic, there is a definition in the language of first order logic as a two-sorted theory comprising a handful of basic axioms, the comprehension scheme, and the second-order induction axiom (in your first mathoverflow link, this is called Z_2):
https://en.wikipedia.org/wiki/Second-order_arithmetic#The_fu...
An other equivalent option would be to use the language of second order logic, where you only need a finite amount of axioms, because the comprehension scheme is already included in the rules of second order logic. This one is PA_2.
Since these definitions do not refer to anything uncomputable such as mathematical truth, both systems are clearly recursively enumerable. This means that Gödel's incompleteness theorem applies to both, in the sense that you can define a sentence in the language of arithmetic that is unprovable in Z_2 or PA_2, and whose negation is also unprovable.
All of these considerations have little to do with models or categoricity, which are semantic notions. I think your confusion stems from the fact that model theorists have the habit of using a different kind of semantics for Z_2 (Henkin semantics) and PA_2 (full semantics). Henkin semantics are just first order semantics with two sorts, which means that Gödel's completeness theorem applies and there are nonstandard models. Full semantics, on the other hand, are categorical (there is only one model), but this has nothing to do with the axioms not being recursively enumerable -- it is just because we use a different notion of model.
PS: I certainly do not consider mathematics to be included in computer science. Even though as a logician, I have been employed in both mathematics departments and computer science departments...