I had the idea the following way, break this text at the point ],[ where I can verify the division of these coordinates and array_map assemble the coordinates into a new array associative as follows:
Code:
$texto = '[-23.61025,-46.5871],[-23.61006,-46.58824],[-23.61005,-46.58831],
          [-23.60999,-46.5886],[-23.60988,-46.58906],[-23.60969,-46.58946],
          [-23.60961,-46.5896],[-23.60944,-46.58979],[-23.60917,-46.59014]';
function get_coordinates($texto) {
    $parte = explode('],[', $texto);
    return array_map(
        function($item) { 
            list($lat, $long) = explode(',', substr(str_replace(']','',$item));
            return ['lat' => $lat, 'long' => $long];
        }, $parte
    );
}
print_r(get_coordinates($texto));
Exit:
Array
(
    [0] => Array
        (
            [lat] => -23.61025
            [long] => -46.5871
        )
    [1] => Array
        (
            [lat] => 23.61006
            [long] => -46.58824
        )
    [2] => Array
        (
            [lat] => 23.61005
            [long] => -46.58831
        )
    [3] => Array
        (
            [lat] => 23.60999
            [long] => -46.5886
        )
    [4] => Array
        (
            [lat] => 23.60988
            [long] => -46.58906
        )
    [5] => Array
        (
            [lat] => 23.60969
            [long] => -46.58946
        )
    [6] => Array
        (
            [lat] => 23.60961
            [long] => -46.5896
        )
    [7] => Array
        (
            [lat] => 23.60944
            [long] => -46.58979
        )
    [8] => Array
        (
            [lat] => 23.60917
            [long] => -46.59014
        )
)
With this data in array you can access the positions and view the information as you need
							
							
						 
so it’s a text all this?
– novic
Yeah, it’s a string.
– Bruno