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So for most missions, yes. You'll probably want to get low.
you can keep your orbit eccentric to save on return fuel too.
How about if you are trying to increase your AP by burning prograde at your PA? Does lower still conserve fuel?
I concur
But, I was talking about raising Apoapsis at Periapsis. I was asking if a lower PA would help if you were buring prograde to raise your orbit.
Right. As long as no aerobraking is going on.
Aerobraking (if atmospher is available) is the most efficient way to slow down and be captured.
Otherwise - If you just want an orbit, any old orbit,
stick your Pe just above the atmosphere and your Ap just below the SOI radius.
While on the edge of the SOI use your radial and anti-radial tabs to adjust your Pe
When you get to Pe burn to retrograd so your trajectory just forms an ellipse.
That is the most efficient way, its called a Marginal Capture.
If you want a circular orbit there will be an optimal radius given by the difference in your current hyperbolic velocity and the circular velocity for a given radius. This usually involves a bit of Math to calculate but in KSP it is easy enough to find with a little experimention.
After you have just entered a bodies SOI adjust your trajectory to try variouse Pe altitudes and place hypothetical nodes to circularize. Dunas minamum for example is 560km altitude.
You don't loose Delta-V, you loose velocity.
And in the case of trying to be captured that is a good thing.