Yes. Also the ideas of "we can just fix it in software" and "what do you mean the software isn't ready? we got the hardware in today and we're on a really tight schedule!" don't help matters any. You are right, though, the biggest problem is a lack of useful requirements, specifications, and other assorted documentation.

No no, you've got it all wrong...anyone who even thought of looking upon their unholy masterpiece is guilty of incest.