Without a benchmark the question is meaningless. The three common ones answer different questions: arrival midpoint measures the whole decision-to-fill cost, quote at execution measures the broker's routing, and interval VWAP measures the algorithm against the market it traded in.
Serious measurement separates costs that are your fault (delay, over-aggression) from those that are structural (spread, impact), because only the first kind is fixable.
Example: decision price 40.00, arrival midpoint 40.02, average fill 40.09, interval VWAP 40.06. Total shortfall is 9 cents: 2 cents of delay before the order was live, 4 cents of underperformance versus VWAP, and 3 cents of spread and impact. On 100,000 shares that is $9,000, of which $6,000 is potentially controllable.
Related: implementation-shortfall, slippage-measurement, effective-spread, market-impact