XBee Serial Output printing wrong characters

I have three XBee modules configured in a network. Two are configured as Router/End devices (AT mode) and one as the coordinator in API mode.
The end devices are connected to sensors and are sending data back to the coordinator. I connected the coordinator to XCTU and was able to analyse the received packets and send packets back to the end devices, no problems so far.

Now I want to connect the coordinator to a BeagleBone Black. So I have the DOUT and DIN of the XBee coordinator connected to two of the pins on the Beaglebone, and it is receiving packets. I am using Minicom to read the serial data on the Beaglebone. The problem is that the output in mincom is scrambled and isn’t showing up any useful data. An example of two packets of data (one from each end device):


The serial connection settings in minicom have been set to the correct values:
Baud Rate: 9600
Data bits: 8
Parity: None
Stop Bits: 1
Flow Control: None

Can anyone suggest what the problem might be? I presume it must be a character encoding issue. Is it because the coordinator is in API mode and the Minicom program is trying to interpret the packet data as ASCII characters?

The API data you are getting out of the UART of the Coordinator is using Intel Hex format. You need to change your code to read Intel Hex data instead of ASCII characters.