It's probably either a bad converter or a short or some other heavy load dragging the converter output voltage down.
I would start by disconnecting the battery. If the converter is now putting out 12V, then take your battery in for load testing.
If the converter is still only putting out 9.5, then disconnect the converter output wires and check the converter with no load. If still at 9.5, then the converter is bad.
If it puts out 12V with no load, troubleshooting gets a bit more complicated unless you have a DC ammeter that can range up to the maximum output of your converter.
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