Condensation prevention for early morning summer shots...

How does one prevent condensation on lenses and filters for early morning summer shots? A trip this past weekend to a distant lake ended in frustration when heavy condensation appeared on my lenses and filters. I have shot at dawn many times, but I never experienced anything like this. Constant wiping and the use of lens covers accomplished little. Basically, the shot was ruined.

Information: The camera and associated equipment were inside my air-conditioned house during the night (76 degrees F), but the 1 hour trip was made in my car without air conditioning. Location: Northeast, USA.