  Global maps of Jupiter's atmospheric temperatures, gaseous composition and
aerosol opacity are derived from a programme of 5-20 $\mu$m mid-infrared
spectroscopic observations using the Texas Echelon Cross Echelle Spectrograph
(TEXES) on NASA's Infrared Telescope Facility (IRTF). Image cubes from December
2014 in eight spectral channels, with spectral resolutions of $R\sim2000-12000$
and spatial resolutions of $2-4^\circ$ latitude, are inverted to generate 3D
maps of tropospheric and stratospheric temperatures, 2D maps of upper
tropospheric aerosols, phosphine and ammonia, and 2D maps of stratospheric
ethane and acetylene. The results are compared to a re-analysis of Cassini
Composite Infrared Spectrometer (CIRS) observations acquired during Cassini's
closest approach to Jupiter in December 2000, demonstrating that this new
archive of ground-based mapping spectroscopy can match and surpass the quality
of previous investigations, and will permit future studies of Jupiter's
evolving atmosphere. We identify mid-infrared signatures of Jupiter's 5-$\mu$m
hotspots via simultaneous M, N and Q-band observations, which are interpreted
as temperature and ammonia variations in the northern Equatorial Zone and on
the edge of the North Equatorial Belt (NEB). Equatorial plumes enriched in
NH$_3$ gas are located south-east of NH$_3$-desiccated `hotspots' on the edge
of the NEB. Comparison of the hotspot locations in several channels across the
5-20 $\mu$m range indicate that these anomalous regions tilt westward with
altitude. Aerosols and PH$_3$ are both enriched at the equator but are not
co-located with the NH$_3$ plumes. We find hemispheric asymmetries in the
distribution of tropospheric PH$_3$, stratospheric hydrocarbons and the 2D wind
field. Jupiter's stratosphere is notably warmer at northern mid-latitudes than
in the south in both 2000 and 2014. [Abridged]
