This simple(st) solution doesn't provide indentation, but it is nevertheless much easier on the human eye. Also it allows the xml to be handled more easily by simple tools like grep, head, awk, etc.
Use sed
to replace '<' with itself preceeded with a newline.
And as mentioned by Gilles, it's probably not a good idea to use this in production.
# check you are getting more than one line out
sed 's/</\n</g' sample.xml | wc -l
# check the output looks generally ok
sed 's/</\n</g' sample.xml | head
# capture the pretty xml in a different file
sed 's/</\n</g' sample.xml > prettySample.xml