There's actually a much easier way of doing this. Just
apt-get install firmware-linux-freeand boom! You get the carl9170 firmware and the DWA-160 is recognized.
I recently got my hands on a PhidgetSBC3 and plugged a D-Link DWA-160 into and found that it already had support built into the kernel but it had an error. So I went searching in the /lib/firmware directory and saw there was no carl9170-1.fw file. So I downloaded and when I plugged the DWA-160 back in it worked and correctly showed up in the web interface. Installing it is very easy:
apt-get install curl -y
curl -L http://linuxwireless.org/en/users/Drivers/carl9170/fw1.9.7?action=AttachFile&do=get&target=carl9170-1.fw > /lib/firmware/carl9170-1.fw