I think it's only cryptic to those unfamiliar with some Linux programs. I do think that authors assume alot when writing it (not all of course, this is very vague, and not all inclusive), but try to make the documentation as best and fullfilling as possible. I do not think that they would want to write a program, make it fully available for anyone, and then make the documentation unreadable by it's users, at least not on purpose.
Yes it can be better, and does get better. Many people can add to documentation, including yourself. Subscribe to the mailing lists, email the authors, and let them know you would like to help improve the documentation. One of the nice things about open source is that anyone can help, not just programmers.