Rasiak claimed the final touch in a goalmouth scramble after the hosts failed to clear Brian Howard's free-kick.
United striker Elliot Benyon will wonder how he did not put this tie to bed midway through the second half of the extra period as his angled shot beat Royals keeper Ben Hamer but came back off the inside of the post.
Left-back Kevin Nicholson then tested Hamer with a thumping 25-yard free-kick which the visiting keeper did well to hold.
Howard had gone closest to a goal during normal time, with Gulls' keeper Scott Bevan doing well to keep out two of his free-kicks.
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