Use
--outputformat=dsv
This output format is configurable, but the default is a pipe so the above should be sufficient for your needs.
If you want to use something else as a delim, add
--delimiterForDSV=DELIMITER
For more details, see: https://cwiki.apache.org/confluence/display/Hive/HiveServer2+Clients#HiveServer2Clients-Separated-Va...
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