Running
Code:
echo "SELECT datetime(moz_historyvisits.visit_date/1000000,'unixepoch'), moz_places.url FROM moz_places, moz_historyvisits WHERE moz_places.id = moz_historyvisits.place_id;" | sqlite3 $PWD/places.sqlite
works OK for me. Note there's no moz_places.sqlite, moz_historyvisits.sqlite: it's just one DB called "places.sqlite".