The transition in confined rotating flows is a topical problem with many industrial and fundamental applications. The purpose of this study is to investigate the Taylor-Couette flow in a finite-length cavity with counter-rotating walls, for two aspect ratios L=5 or L=6. Two complex regimes of wavy vortex and spirals are emphasized for the first time via direct numerical simulation, by using a three-dimensional spectral method. The spatio-temporal behavior of the solutions is analyzed and compared to the few data actually available.