Regarding "that almost nobody on Earth fully understands anymore", I claim this is nonsense, and definitely not an obstacle. I've audited codebases in languages that I haven't programmed in. It is a matter of grasping a few basic concepts, like branch execution, branch destination, where data is stored, how it is communicated. Don Lancaster told us how to do this: https://www.tinaja.com/ebooks/enhance_vI.pdf .
> Regarding "that almost nobody on Earth fully understands anymore", I claim this is nonsense, and definitely not an obstacle. It seems like you aren't very familiar with the history of the Voyager or the computer systems it uses. The Voyager has three onboard computers, each of which has a custom ISA. Two of the three computers were only used on Voyagers. After the main Voyager mission ended in the late 1980s and th…
>NASA still maintains some of the Voyager spacecraft code in a 1970s-era programming language that almost nobody on Earth fully understands anymore
I did not address the issue of the hardware documentation, just the issue raised by the headline. I fully understand the issues that the hardware and the problems of not having a full map of the hardware or a test bed to check out the code.