We present a general approach for coupling a specific mode in a planar photonic crystal (PC) waveguide to a desired free-space mode. We apply this approach to a W1 PC waveguide by introducing small index perturbations to selectively couple a particular transverse mode to an approximately Gaussian, slowly diverging free space mode. This "perturbative photonic crystal waveguide coupler" (PPCWC) enables efficient interconversion between selectable propagating photonic crystal and free space modes with minimal design perturbations.