The copy command only allows for single character delimiters, so you cannot import this data directly into your target table. Instead, you will need to create a staging table:
create table stage_venue (venue_record varchar(200));
Run your copy command (assuming your data does not have the pipe, |, character in it):
copy stage_venue from 's3://mybucket/data/venue_noseats.txt' credentials 'aws_access_key_id=<access-key-id>;aws_secret_access_key=<secret-access-key>';
Then use the split command to populated your target table (note that I counted only 10 spaces and not 13 in your sample):
insert into venue_new (venueid, venuename, venuecity, venuestate), select split_part(venue_record,' ',1),split_part(venue_record,' ',2),split_part(venue_record,' ',3),split_part(venue_record,' ',4) from stage_venue;