> The problem is, many programmers work in a highly non-linear way, and
> are not able to function otherwise.

Often, a big reason for the non-linear work is that one gets an idea
that should be explored to get more insight into the original problem.
So when I hear "we should have clear goals and proceed in a more linear
fashion" I think "you want us have worse designs?" From personal
experience, there is no way I could have good ideas without the
non-linearity. It practically _is_ the idea engine.

Of course, sometimes the exploration goes too far, but that's what
deadlines are for :) And when one gets tired, it's good to ship
something imperfect to boost morale.