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