screen is able to connect to a serial port. It will connect at 9600 baud by default:

screen /dev/ttyATH0 

A different baud rate (e.g. 115200) may be specified on the commmand line.

screen /dev/ttyATH0  115200
Hello World
           Hello World
                      Hello World
                                 Hello World

To exit screen type "ctrl-a \" without the quotes.

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