It is not plausible
Obligatory xkcd, what-if reference: Hockey Puck
If you’re like me, when you first saw this question, you might’ve imagined the puck leaving a cartoon-style hockey-puck-shaped hole.
But that’s because our intuitions are shaky about how materials react at very high speeds.
Instead, a different mental picture might be more accurate: Imagine throwing a ripe tomato — as hard as you can — at a cake.
The thing is that even rocks and metals behave like soft putty when impacting things at that speed, especially if the target is not yielding.
Beautiful example with metal on metal.
So your asteroid will not punch through the crust and end up in the mantle. It will splat against the crust.
How deep will it go? Newton made a rough approximation of that. The Impact Depth is roughly the length of the impactor, multiplied by the ratio between the density of the impactor, and the density of the target.
Assuming both the asteroid and the Earth are rock, then the ratio is 1, and the impact depth is then the length of the asteroid, that is to say it will leave a crater, and the top of the asteroid will be in level with the surface of the Earth.
Assuming a metal asteroid, let us say one that has twice the density of rock, then if could dip down under the surface. But the asteroid would have to be huge in impact terms, at least 10 kilometers, if it is to break through 10 km of crust. An impactor of that size will make for one hell of a bang.
For example: The Chicxulub impactor is estimated to have been about 10 km.That left a lasting impression...
Also the asteroid will break apart into little pieces.