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Use policyThe full-text may be used and/or reproduced, and given to third parties in any format or medium, without prior permission or charge, for personal research or study, educational, or not-for-prot purposes provided that:• a full bibliographic reference is made to the original source • a link is made to the metadata record in DRO • the full-text is not changed in any way The full-text must not be sold in any format or medium without the formal permission of the copyright holders.Please consult the full DRO policy for further details. ABSTRACT We present the first full catalog and science results for the NuSTAR serendipitous survey. The catalog incorporates data taken during the first 40 months of NuSTAR operation, which provide ≈ 20 Ms of effective exposure time over 331 fields, with an areal coverage of 13 deg 2 , and 497 sources detected in total over the 3-24 keV energy range. There are 276 sources with spectroscopic redshifts and classifications, largely resulting from our extensive campaign of ground-based spectroscopic followup. We characterize the overall sample in terms of the X-ray, optical, and infrared source properties. The sample is primarily comprised of active galactic nuclei (AGNs), detected over a large range in redshift from z = 0.002 to 3.4 (median of z = 0.56), but also includes 16 spectroscopically confirmed Galactic sources. There is a large range in Xray flux, from log(f 3−24keV /erg s −1 cm −2 ) ≈ −14 to −11, and in rest-frame 10-40 keV luminosity, from log(L 10−40keV /erg s −1 ) ≈ 39 to 46, with a median of 44.1. Approximately 79% of the NuSTAR sources have lower energy (< 10 keV) X-ray counterparts from XMM-Newton, Chandra, and Swift XRT. The mid-infrared (MIR) analysis, using WISE all-sky survey data, shows that MIR AGN color selections miss a large fraction of the NuSTAR-selected AGN population, from ≈ 15% at the highest luminosities (L X > 10 44 erg s −1 ) to ≈ 80% at the lowest luminosities (L X < 10 43 erg s −1 ). Our optical spectroscopic analysis finds that the observed fraction of optically obscured AGNs (i.e., the Type 2 fraction) is F Type 2 = 53 +14 −15 %, for a well-defined subset of the 8-24 keV selected sample. This is higher, albeit at a low significance level, than the Type 2 fraction measured for redshift-and luminosity-matched AGNs selected by < 10 keV X-ray missions.