Brandon Madsen scored with less than five minutes left to boost the unbeaten Raiders.

FEDERAL WAY — Even Brandon Madsen had to marvel.

This wasn’t just another goal for the Jefferson High School junior, who has 18 this season. It was almost magical, hitting the back of the net with less than five minutes to play and lifting the unbeaten Raiders to a 1-0 victory over Inglemoor on Saturday in the quarterfinals of the Class 4A state boys soccer tournament at Federal Way Memorial Stadium.

“That’s one of the craziest goals I think I’ve ever scored,” said Madsen, who took a well-placed cross from Rodrigo Robles and fired from 20 yards out. “It was amazing. The ball just went right over the defender’s head and I just brought it down and left-footed it inside the far post.”

That ended 75 minutes of frustration as the Raiders (16-0-4), ranked No. 12 in the nation by the National Soccer Coaches Association of America, had sent a flurry of shots around the net or into the arms of Inglemoor goalkeeper James Takami. Madsen had missed a couple of good opportunities earlier, but coach Dave Hanson said he never lost faith.

“He’s just clutch,” said Hanson. “You can’t stop the kid. He’s just a good, solid finisher.”

Inglemoor (12-3-1) had chances, too, but couldn’t finish — in part because of McKay Owsley’s three saves.

“I’m proud of the way that we battled, and sometimes the game goes that way,” Inglemoor coach Kevin McGibbon said.

The Raiders, eliminated in the opening round of the tournament in each of the past three years, are in the semifinals for the first time since 2005, when they won their seventh title. They will play Friday at 6 p.m. against Snohomish, a 3-1 quarterfinal winner over Camas.

“I’ve been waiting for this my entire high-school career,” said senior Isidro Prado-Huerta, who was all over the field despite playing with a bad cold.

Jefferson was without top midfielder Jake Sullivan, who was academically ineligible for the second match in a row. Hanson said he hopes Sullivan is able to return next weekend.