We have studied a quinary Fe-based superconductor Sr$_2$VFeAsO$_3$ by the measurements of x-ray diffraction, x-ray absorption, M{o}ssbauer spectrum, resistivity, magnetization and specific heat. This apparently undoped oxyarsenide is shown to be self doped via electron transfer from the V$^{3+}$ ions. We observed successive magnetic transitions within the VO$_2$ layers: an antiferromagnetic transition at 150 K followed by a weak ferromagnetic transition at 55 K. The spin orderings within the VO$_2$ planes are discussed based on mixed valence of V$^{3+}$ and V$^{4+}$.
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