Bear in mind that many Class D airports dont have radar services and are totally visual. Given its location, close proximity to the lower inner rings of the Bravo, over laps of the airspace and the fact that radar coverage is pretty well saturated in the area, San Carlos likely has a read out but then a couple years ago in this thread:
https://www.pilotsofamerica.com/community/threads/class-d-airports-and-radar.72201/
Someone commented about how their local class D airport had a new tower within the last 10 years and a radar array on the field that piped radar data to Salt Lake City 200+ miles away and yet the tower didn't have a radar display in their cab. So it just goes to show what seems like a no brainer to us might not have made it to the FAA.
Either the controller had radar and could tell you were right of where you should be, got called by one of the bravo controllers about that airplane that just took off and is now in their airspace or judged visually that you appeared too far right. You've since indicated it the radar track did put you in the Bravo so it seems it was one of the first 2 but no matter what, the quick response and compliance, not arguing it was the right response and likely saved you a phone call.
Foreflight didn't record it, but I've seen the radar track now. Somehow, I did get right of the runway extended centerline.
There may be a lesson in how. There wasn't much wind at all, at most a few knots. But one of the landmarks --US 101 -- curves in that direction. I think I may have followed it for noise abatement. That particular procedure doesn't ask for that, but most of the others do.
I'm a bit confused... If you followed US 101 as you indicated, even though it curves inward, the sectional, TAC and fly chart all seem to indicate US 101 doesnt cross into the Bravo until the US-101/I-92 interchange which is after the left turn for Bay Meadows. Its also noteworthy that while the posted noise abatement diagram clearly states its not for navigation and lists the Class B boundaries as approximate locations, it indicates US 101 doesn't cross the bravo until after the interchange which is well after the left turn out for Bay Meadows.
Something doesn't add up and while you're "downplaying gadgetry" in the cockpit, you seem to be losing awareness in the process. I'd also note that a moving map such as GNS430/530 or the GTN650/750 does show lines for each of the bravo shelves and though they dont print it right on the map like on a sectional, they have the ability to tell you at what altitude a particular shelf is if you dont possess the local knowledge to already know that information.
Your iPad with GPS would have saved you the bust here. A moving map GNS/GTN moving map display would have saved you the bust here. This is all equipment you say you had available to you but eschewed in an effort to downplay gadgetry. Downplaying the gadgetry is a good thing in my opinion but only as long as you can keep safe. Losing situational awareness and busting an airspace isn't safe and as others pointed out, even eschewing the gadgetry cant be used as an excuse in this case because its dead simple to tune to 115.8 plug in the reciprocal 300-bearing for the 120-radial and ensure you remain left of center the entire time as you climb through 1400