Substorms in the Earth's atmosphere

A widely, but not universally, accepted model of substorms is described. The energy budgets, time scales, and conversion efficiencies for substorms are presented. The primary forms of substorm energy dissipation are given along with the average levels of the dissipation. Aspects of particle acceleration and precipitation, Joule heating mechanisms, ring current formation, and plasmoid escape are illustrated based on in situ observations taken from the large available data base. Possible analogues of substorm like behavior in other astrophysical systems are described.