They remain there until an all-clear is given, which may include a distinct all-clear scent such as wintergreen.
If you search for "stench gas" you will find some... interesting photos of the control panel for these systems:
http://c1.staticflickr.com/2/1686/24201183892_c8a2dffc3b_h.j...
(Something about buttons marked "release stench gas" and "release anti-stench gas" seem amusing in a rather comical fashion.)