She was heading backwards. I couldn't really tell from the video I saw, but either she lost propulsion control & the lovely East river current carried her in or propulsion failed in reverse (I've seen this happen on newer variable pitch prop ships but never on anything this old) and she literally just backed into the bridge. Max charted height for the Brooklyn is 127'. If this boat is anything like the ones she & her sisters are based on (EAGLE & her sisters), the main mast height is 135'.
She was getting underway from Pier 17 (below the Brooklyn) to head for NY Harbor and what happened, happened. Unfortunately now she does have plenty of bridge clearance and they've parked her above the Manhattan bridge (134' VC).
I've seen lots of comments about this being a Mexican training ship but I don't think people realize that this could have just as easily happened to EAGLE. Could've just as easily been CG Academy cadets falling off those yardarms.
I am curious as to why they didn't park her in the Hudson where there aren't bridges to worry about for a ways. That's where all the visiting Fleet Week ships go.