  We use the DMRG method to calculate several energy eigenvalues of the
frustrated $S=1/2$ square-lattice $J_1$-$J_2$ Heisenberg model on $2L \times L$
cylinders with $L \le 10$. We identify excited-level crossings versus the
coupling ratio $g=J_2/J_1$ and study their drifts with the system size $L$. The
lowest singlet-triplet and singlet-quintuplet crossings converge rapidly (with
corrections $\propto L^{-2}$) to different $g$ values, and we argue that these
correspond to ground-state transitions between the N\'eel antiferromagnet and a
gapless spin liquid, at $g_{c1} \approx 0.46$, and between the spin liquid and
a valence-bond-solid at $g_{c2} \approx 0.52$. Previous studies of order
parameters were not able to positively discriminate between an extended spin
liquid phase and a critical point. We expect level-crossing analysis to be a
generically powerful tool in DMRG studies of quantum phase transitions.
