I suspect the pilots knew it wasn't a great approach but it just didn't click how bad it was. They just felt committed to the approach and thought they could 'fix it' without realizing how bad things really were. Having good enough situational awareness that you wave off when you are supposed to generally means that you also aren't wildly off speed/other parameters. They clearly had lost situational awareness.

The thing that amazes me about this is the timeline here:

00:30 The nose and right main gear touched down at a groundspeed of 158 knots.

...

00:19 The left main gear touched down at a groundspeed of 134 knots.

00:15 A pilot called for a go-around.

11 seconds and 24 knots after the nose touched down and then the left main finally also touched down? Wow. Then 4 seconds after all that the go-around. It is one thing to hold the nose off for that long, but a main mount?!

How did they ignore the descent rate and speed? They were absolutely diving at the ground. It's just such an elementary mistake.