When the cable is out of adjustment the chain is trying to shift to the next gear but can't quite make it. It "feels" (and sounds) like slipping or skipping. This is why I said improper adjustment is the most common cause, and the first thing to check. It's free!
If you look directly behind the cassette, you should be able to see the chain and derailleur wheels in perfect vertical line with which ever gear it is in. When the cable is out of adjustment it will be slightly out of line, one way or the other.
While not absolutely necessary, the easiest way to check is in a stand, or with the rear wheel off the ground. That way you can go through all the gears several times, and make adjustments as you go. When everything is right there will be no funny noises or delay... just crisp, quick shifts between gears. Even with an Altus with over 20,000 miles on it like the one I have!