The only way I know of is with an Xposed module - Immersive Mode Don't Panic.
XDA thread - http://xdaforums.com/xposed/modules/4-4-immersive-mode-dont-panic-t2705007/post51617089
Xposed Repo Link - http://repo.xposed.info/module/com.germainz.immersivemodedontpanic
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