かしこまりました=>"Certainly". This phrase is very formal. It is often used by a store clerk, waiter/waitress or taxi driver to a customer. (http://japanese.about.com/od/simplejapanesephrases/p/sjp3-6.htm) わかりました=>Understood/got it. Hope that was helpful ^_^

"Kashikomaru" is a polite version of the verb "wakaru". The meaning is the same, it only depends on the context (to whom you are speaking) which of them you'll use.