The low-temperature electron spin resonance (ESR) spectra and the static magnetization data obtained for the stoichiometric single crystals of $beta$-Na$_{0.33}$V$_2$O$_5$ indicate that this quasi-one-dimensional mixed valence (V4+/V5+) compound demonstrates at $T_N=22$ K the phase transition into the canted antiferromagnetically ordered state. The spontaneous magnetization of $3.4times 10^{-3}$ $mu_B$ per V$^{4+}$ ion was found to be oriented along the two-fold $b$ axis of the monoclinic structure, the vector of antiferromagnetism is aligned with the $a$ axis and the Dzyaloshinsky vector is parallel to the $c$-axis. The experimental data were successfully described in the frame of the macroscopic spin dynamics and the following values for the macroscopic parameters of the spin system were obtained: the Dzyaloshinsky field $H_D=6$ kOe, the energy gaps of two branches of the spin wave spectrum $Delta_1=48$ GHz and $Delta_2=24$ GHz.
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