If you disable notice from your console in logger.conf it will stop the messages from being output, but you may miss other messages. There’s no other way except for modifying Asterisk.
I don’t know why it is sending it, and I don’t know about CAS signaling. The message itself is output when Asterisk receives an RTP packet with a payload that was not negotiated. In this case it’s a dynamic payload (123) so we truly have no idea what it is.