How do I keep condensation from forming in an outdoor air pipe?

I have built a Radon gas mitigation system that vents air to an outside vent. As in most systems, it sucks airs out from under the concrete slab of my basement. The vent exits the basement to the outdoors using a 4” diameter schedule 40 PVC pipe and travels about 20 feet under my deck before reaching the fan motor. The exhaust pipe travels upward about 12 feet from the fan motor. The problem is water condenses from the warm moist air when it travels the length of the 20’ out door pipe. I have a drain in the pipe, but it’s a pain to drain the condensation weekly. Is there a way I could heat the pipe and/or insulate it using some type of material suitable for outdoor use?