Underground is different temperature and humidity than outside. The camera will need a few minutes for all the glass to adjust, and until then it's like a glass of cold water on a warm day, it fogs up and gets wet. If it's really bad a lens cloth can help, but don't bother "drying" it off until you give it a few minutes. Once you do this once, it should be good for the whole trip. You probably notice the same thing when you get it back outside. It is very important to let the camera air out upon exit of the cave, don't leave it in a pack, case, or waterproof box. Get back to the car, pull it out and set it in open air and leave it out and not packed for a few days. If you don't do this, the moisture will condense and eventually start getting inside the camera. If that happens, sorry you are kinda screwed but can try putting it in an airtight container with dessicant to dry it out before it starts destroying the electronics. If moisture gets into the lens or behind the viewing screen, it is hard to get it back out.
If you are getting fog in the images from the flash, that is a whole different story and doing the off camera flash will help and you'll need to get creative with lighting depending on the conditions and your lighitng creativity it can be easy to "impossible" to deal with.
I think I just saw your request to join the fb group, you are in =) (I am one of the admins)
AHH you ninja'd me in posting =) It sounds like it didn't get aired out well at some point and you have moisture inside the camera itself, if the pictures eveno nt he computer are foggy it is into the lens mechanism. If you can find directions for it, take apart your camera as much as you can and let it dry out in dessicant then reassemble. I do that as a last resort, but if it's continually fogged, it's "ruined" anyway so you can't make it worse if you can't get it back together or if you unscrew too much. In the future, keep it in a waterproof case underground (even if it is just a pouch for $20 if you wish to keep carrying it around your neck, otterbox/pelican cases are even better though) and take it out and let it air dry well after every trip. It sounds like the lack of protection got the water into it and now the moisture inside is stuck.