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The team went fishing during a four-day layoff after the drawn first Test in Brisbane before training for four days in the lead-up to the second and Kirsten said that was enough preparation for his bowlers.
"First of all, we had four great days of prep leading into this game but it's always a thing that will come up.
"Often when we're home for a Test series we send players home and they come back two days ahead to prepare.
"There's no exact science to it. You can always find a way to criticise in some department.
"Every team goes through injuries at some point in time. I don't think we're unique to that. The fact that it happened on one day, I certainly don't have the answers to that. It was unfortunate."
Steyn, who captured the last wicket of the day by bowling Hussey for 103, was not badly injured, Kirsten said, but Philander's availability for the third and final Test in Perth remained a doubt, while the team was waiting for Kallis's scans.
"We'll have to wait for that. He's a little bit sore," Kirsten said. "He made a wise decision. As soon as he felt a twinge he got off the park quickly.
"Obviously from a batting perspective it's going to be important - these days we don't have runners, so it's going to be important that he can bat for us as well."
In their absence, spinner Imran Tahir was flayed for 159 runs, while Philander's replacement Rory Kleinveldt also went wicketless for 70.
Morkel, with little support, captured two wickets but was pillaged for nearly six runs an over in conceding 128.
"I think it was a difficult first-innings wicket for a spinner to bowl on, especially when you've got someone like Michael Clarke who is going to pounce," Kirsten said, referring to the Australian captain's 224 not out, following his unbeaten 259 in Brisbane.