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if you type "~usbNetwork" after hitting the "del" key, this enables usb networking mode, also if you type it again it will disable it (the command toggles). Also you could just try powering down the kindle and turning it back on as it will turn on with usbNetworking off, unless you have made some changes (which you probably haven't since you don't know this much).
If you know how to use ssh and scp (a secure shell and a secure file transfer) then the usbNetwork download has an uninstall update (just like the way you installed it but a different file). Just scp the uninstall file into /mnt/us/ and update your kindle.
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