At the top of the view (s), add the following:
android:paddingTop="?android:attr/actionBarSize"
If you use the support library for the action bar, you need to remove the android: prefix prefix
android:paddingTop="?attr/actionBarSize"
By enabling translucent system panels, your layout will fill the area behind the system panels, so you should also include fitsSystemWindows for the part of your layout that should not be covered by system bars.
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