As a complementary example to Chris Sunami's answer, please note that empirical does not cover the totality of, nor necessarily imply, the experiential.
Considering his answer as a start, we have the adjectival:
Empirical knowledge (also, but probably less frequent, empiric knowledge).
and we have
Regardless of any particular philosophical worldview, experiential knowledge or understanding is considered by many (but not all!) to be much more encompassing than empiric knowledge. As a (merely) physical-based perception, knowledge derived from an empirical perspective could be considered as a subset of experience.
So when you have empirical knowledge based on observations, say in a laboratory experiment, you are also experiencing something. But you can also have a dream, say, which is not at all empirical knowledge (in the typical sense of the word, empiric) - but you experience it nonetheless.
(Although many forms of experience exist, not all of which are empiric, discussions about that would veer promptly off topic, into deep epistemology - the purview of philosophy.SE)