Communicating between 2 Xbee in APi mode using Minicom
When sending those packets they have to be in binary rather than sent as a hex string and Minicom doesn't appear to support binary data. However from a Stack Overflow answer the following page contains details on adding the ability to send a binary file:

Sending binary files via minicom

You could get your packet into a binary file using a command like the following:

echo -ne '\x7E\x00\x10\x10\x01\x00\x13\xA2\x00\x40\xBC\xDE\x18\x00\x00\x00\x00\xAE\xDA\xBF' &gt; packet.bin


Another alternative would be to use the RealTerm program that allows sending of binary files and also will allow you to see the packets received in hex which may be difficult with Minicom. I use it under Windows but according to the support page it has been successfully tested under Wine.