YES, YES, YES-it is rape. The definition of rape is unconsentual sex.
Whether you are awake is not the question. This happened to me. The man went to jail where he belongs.
In my situation, I had sex with him before as well. He was a good friend of mine. I went to a party at his house a few years later (still friends through that time) and I ended up passed out drunk. Next morning, I woke up with my bra cut off and I was hurting sooooo badly. I went to the hospital and they did a rape kit on me and then I went to the police.
Unfortunately, I dropped the charges because it was his word against mine. They solicitor said she couldn't guarantee a conviction and I didn't want to be put on the stand, made out to look like a prostitute.
But in the end, I'm glad there is at least a record of this on his part. If he does it to anyone else, it will be more likely to be believed.
You shouldn't talk to this "friend" ever again. Obviously he is no friend at all to take advantage of you.