It might be easier to use the text format rather than binary (so just remove the WITH BINARY). The text format has better documentation and is designed for better interoperability. The binary format is more intended for moving between postgres installations, and even there they have version incompatibilities.
Text format will write the bytea field as if it was text, and encode any non-printable characters with \nnn octal representation (except for a few special cases that it encodes with C style \x patterns, such as \n and \t etc.) These are listed in the COPY documentation.
The only caveat with this is you need to be absolutely sure that the character encoding you're using is the same when saving the file as when reading it. To make sure that the printable characters map to the same numbers. I'd stick to SQL_ASCII as it keeps thing simpler.