It can take time and altitude to recover a spin, and low altitude maneuvers are often where unintentional spins occur. That said, I don't know what the minimum altitude for a parachute deployment is. That'd be important.
There are no minumums per say. If you need it pull it. The higher you pull it the better it can work. They say the demonstrated parameters are: 400 feet in straight and level flight and 920 feet in spin.
