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You might want to look at GMT (generic mapping tools) which has a function called psxy which can produce very customisable postscript images of graphs. I don't think it has many dependencies (netCDF is the main one I think), and is entirely command line driven, so overheads are reduced. If you need help on using it, give me a shout as I use GMT every day at work!
You could probably hack the psxy source code so it would compile on its own without all the dependencies (specifically netCDF which I think it quite large), and that would allow you to plot simple xy scatter/line plots. On its own, psxy shouldn't be too big...
Maybe you just want a library that can generate images in PNG or similar format, with primitives for line drawing and labelling. Then you can just wrap it up inside your own C code.
How about Ilib. The source is just a 131Kb download.
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