Yes you were raped and should file a police report.
However, I doubt the case would make it to trial, and if it did, he would probably be found Not Guilty. You were intoxicated while underage, the Defense could claim the alcohol made you think you were being raped while he was just trying to help you to the couch or bed or whatever, because you were underage and drunk thus affecting your memory.
Unless there is DNA evidence, there is almost no chance he would get in trouble, it's basically your word against his, and you were drunk while it happened.
I am terribly sorry this happened to you, he really did take advantage of you. I hope everything turns out alright, if you ever need any help or support, we are always here
