Every time you regen and every time you run on electric power, you are wasting energy in the conversion. It is more efficient for the engine to fire up every once in a while than to try to capture more regen energy. The efficiency curve of the regen varies with battery state of charge, the more full the battery is, the less efficient the regen is. That's why you don't want to be running around with a nearly full battery all the time. Working in the middle of the battery's range also helps preserve it's life. It will last longer than the rest of the car if you let it operate as it was designed from the factory.