CAN Bus wasn't originally supported by IRIG 106. Early implementations placed CAN Bus data into Chapter 10 Message Data Packets. Support for CAN Bus first showed up in IRIG 106-13. Below are sample data files that offer examples of each format for CAN Bus data.
http://www.irig106.org/sample_data/Heim_CAN_Bus.zip
File Name : 20000101010604_r0000f000.ch10
File Size : 32,199,588 bytes
Recorder Manufacturer : ZODIAC Heim
Recorder Model :
Recorder Firmware : 196614
IRIG 106 Version (Data) : 106-09
IRIG 106 Version (TMATS) : 106-09
Indexing : Enabled
Events : Enabled
Recording Date / Time : 01-01-2000-01-06-03
Data Start Time : 2000/01/01 01:06:03.000
Data Stop Time : 2000/01/01 01:11:38.408
Data Types : Channel Data Type (Type Num) Packet Count
------- ---------------------- ---------- ------------
0 User Defined (0x00) 672
0 TMATS (0x01) 1
0 Index (0x03) 341
1 Time (0x11) 336
3 UART (0x50) 698
4 Analog (0x21) 5118 Packed
5 Analog (0x21) 5119 Packed
7 UART (0x50) 336
15 Message (0x30) 2933
16 Message (0x30) 2933
17 Message (0x30) 2933
18 Message (0x30) 2933
File Name : CANBus_DataFormat.c10
File Size : 23,420,700 bytes
Recorder Manufacturer : ZODIAC Heim
Recorder Model :
Recorder Firmware : 196668
IRIG 106 Version (Data) : 106-15
IRIG 106 Version (TMATS) : 106-15
Indexing : Enabled
Events : Enabled
Recording Date / Time :
Data Start Time : 2000/01/01 00:23:55.000
Data Stop Time : 2000/01/01 00:27:34.879
Data Types : Channel Data Type (Type Num) Packet Count
------- ---------------------- ---------- ------------
0 User Defined (0x00) 441
0 TMATS (0x01) 1
0 Index (0x03) 223
1 Time (0x11) 220
3 UART (0x50) 556
4 Analog (0x21) 3357 Packed
5 Analog (0x21) 3357 Packed
7 UART (0x50) 220
15 CAN Bus (0x78) 2529
16 CAN Bus (0x78) 2529
17 CAN Bus (0x78) 2529
18 CAN Bus (0x78) 2529