This was an interesting challenge and one where I couldn't find step by step instructions on Google or the Mulesoft website. So I ended up trying this myself and hope this is useful for others.
It sounds daunting at first but when you go through the process, it's quite simple. First, you need the right equipment.
1. Raspberry Pi. (Kinda goes without saying).
2. USB to TTL Serial Cable. (http://www.adafruit.com/product/954).
I actually got mine from https://nicegear.co.nz/raspberry-pi/usb-to-ttl-serial-cable-debug-console-cable-for-raspberry-pi/ as I thought the price was similar but I didn't take into account the $5 postage which snuck in at the end.