Billy Cundiff kicked a 25-yard field goal with no time left to complete a 21-point comeback and give the Baltimore Ravens a 30-27 victory over the visiting Arizona Cardinals on Sunday.

Joe Flacco completed a career-high 31 passes on a career-high 51 attempts and finished with 336 yards for the Ravens (5-2), who kept pace with the Pittsburgh Steelers in the AFC North.

Ray Rice had three short touchdown runs for the Ravens, who dealt Arizona (1-6) its sixth consecutive loss.

Baltimore got the ball back at the Arizona 44-yard line after forcing a punt with 52 seconds left. Instead of playing it conservatively to get into field goal range, Flacco stayed in the shotgun and completed two passes, the second a 36-yard connection with Torrey Smith that brought the Ravens to the Arizona 5-yard line.

Cundiff kicked the game-winner two plays later.

The Cardinals opened up a 24-6 lead at the half, getting an 82-yard punt return for a touchdown from rookie Patrick Peterson and scores from Beanie Wells and Early Doucet on three straight possessions in the second quarter.