slic3r: Can I vary the infill percentage for different heights of my model?
Your question is very similar to Different infill in the same part and Using multiple infill types within one model [duplicate]. The difference is that you specifically ask for Slic3r and a variation in layer height infill percentage.



Actually this answer describes using "helper volumes" in Ultimaker Cura to set different properties for certain parts of the model (UPDATE: that answer now includes also Slic3r instructions), but it appears that this answer is very much applicable to Slic3r also. Please read this posting. Quoting from the reference:


  Finally, I fired Slic3r up and loaded the main part, then clicked on
  Settings... and then hit Load modifier... I loaded the new volume as a
  modifier mesh and I applied 100% solid infill...
  


Secondly, this answer where 2 different infill percentage sliced models are manually combined at a certain height may also work for you (this is a perfect valid solution for Slic3r, but requires some editing skills).

Basically, although you request for a solution for a slicer other than already described in other questions, boils down to a similar answer, the only difference is the implementation in Slic3r is called differently. 



To do this in Slic3r see this reference.

The blog describes the use of a simple volume (the green volume loaded from an STL file). After loading:


  Right-clicking on the main part brought up the object settings menu.
  From there, clicking "Load Modifier" and selecting the previously
  saved model adds it to the part as a modifier.
  
  The green "+" was selected and "Fill Density" was added to modifier
  list and set to 100%.





This shows that the functionality in Slic3r is very similar to the functionality in Ultimaker Cura.