This could be normal. How long were you driving "down from central coast" with the A/C on? Condensation could easily form on the 'outside' of the evaporator box under the dash during a long trip because it's been cold for a long time. The same reason condensation on the outside of an ice cold glass of soda forms sitting on the counter. This is absolutely normal and is no reason to turn it off whatsoever. It's actually a good indicater that the A/C is working good.
2nd possibility is that the condensation drain hole 'inside' the case that drains out at the firewall onto the ground could be clogged and the case is full of water(condensation) and leaking onto the carpet. This is a very easy fix. Just blow compressed air into the drain hole, under the hood, on the passenger side firewall. Water may come pouring out which is what you want, because you just cleared the drain hole.
3rd possibility is a leaking heater core. However, I highly doubt that. When that happens, you will see and smell antifreeze and steam. Plus, that's not a common problem in rav-4's that I know of.
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