Success is too subjective a word. We can talk about at least two different kinds of success:
Financial success: From Microsoft's and Rockstar's point of view, selling on par with the PS3 would be more than enough for financial success. Even selling half of PS3's version would be a financial success I think. Rockstar would probably have gained userbase which wouldn't have gotten GTA4 if it wasn't on the 360, and Microsoft would get money-conscious customers' money.
Competitive success: The 360 is still on top by a wide margin, which means that if hardware 360 sales are as big as PS3's during GTA4's launch period, this advantage will be maintained. This too would imply a very significant competitive success, for which even a smaller margin would be enough.
There are probably more kinds of success which I'll leave for other people to think about since I'm feeling lazy. Considering these two kinds of success together, I'd say having 33% of GTA4's sales could well imply success already, while selling 40% would definitely do so.
PS: We can also talk about the regional perspective, from which Microsoft would like to steal as much userbase as possible in Europe, which is still seen by many as Sony land in terms of consoles (although it only applies to HD consoles now).