The fact that RAW looks OK when opened in picasa (If I am not wrong and you didn't want to say only jpg is OK), is an indication on software problem. Unfortunately rawshooter has turned is been killed by big giants. Don't expect support for newer cameras etc. At least it is good that you can still use it.
Side note, when underexposing, you have more digital data than when over exposed. May be that is why Nikon wants to have that as default for when things do not work to the best.
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