Since warmer interior air is also usually moister air in winter, anytime this moister interior air comes into contact with a surface that is below it's dew point, condensation will occur.
You can even get these symptoms if the interior air is relatively 'dry' so long as the temperature of the foundation drops below the dew point for your basement air's humidity and temperature.
Reason you get condensation only above grade is that the foundation at this level and above is colder than the foundation below ground.
You can eliminate the condensation by either dehumidifying your basement or heating it or both.