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how to view console messages on a PC terminal

Hi, all  my  friends 

 I   follow  the   Quick Start Guide,  the  fifth   step  is   

5. Connect a Debug USB via micro-USB connector via micro
USB port (J15). Connect the other end of the serial cable to a
PC. This step is optional. This step enables viewing of console
messages on a PC terminal and changing some of the default
parameters on the board.

the  question is that   how  to  view  ,shall  I   install  some  software   on the ubuntu  or do something  else

thank you very  much