While this is not a complete set of the commands it is a recounting of my experience burning a CD while only using a shell. The full stuff can be found here. When installing debian at one point I found myself with a minimum system and desperatly needing to have the testing install CD. I had the CD downloaded, and could see the ISO, but I needed to go forward from there. It was pretty easy.
cdrecord -v -pad speed=1 dev=0,0,0 src.iso
After that little command it was easy. All went well and I now had a CD that I could use. On the source website it says that you may need to adjust the dev parameter.