The current state of the art in pulsar magnetosphere modeling assumes the force-free limit of magnetospheric plasma. This limit retains only partial information about plasma velocity and neglects plasma inertia and temperature. We carried out time-dependent 3D relativistic magnetohydrodynamic (MHD) simulations of oblique pulsar magnetospheres that improve upon force-free by retaining the full plasma velocity information and capturing plasma heating in strong current layers. We find rather low levels of magnetospheric dissipation, with less than 10% of pulsar spindown energy dissipated within a few light cylinder radii, and the MHD spindown that is consistent with that in force-free. While oblique magnetospheres are qualitatively similar to the rotating split-monopole force-free solution at large radii, we find substantial quantitative differences with the split-monopole, e.g., the luminosity of the pulsar wind is more equatorially concentrated than the split-monopole at high obliquities, and the flow velocity is modified by the emergence of reconnection flow directed into the current sheet.
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