You're the second person I have ever seen using NCBI "chromosome names" (they're more like supercontig IDs). Normally I would point you to a resource providing mappings between chromosome names, but since no one has added NCBI names (yet, maybe I'll add them now) you're currently out of luck there.
Anyway, the quickest way to do what you want is to
samtools view -H foo.bam > header to get the BAM header and then change each NCBI "chromosome name" to its corresponding UCSC chromosome name. DO NOT REORDER THE LINES! You can then use
samtools reheader and be done.
Why, you might ask, would this work? The answer is that chromosome/contig names in BAM files aren't stored in each alignment. Rather, the names are stored in a list in the header and each alignment just contains the integer index into that list (read group IDs are similar, for what it's worth). This also leads to the warning above against reordering entries, since that's a VERY convenient way to start swapping alignments between chromosomes.
As an aside, you'd be well served switching to Gencode or Ensembl chromosome names, they're rather more coherent than the
something_random mess that's present in hg19 from UCSC.
Update: Because I'm nice, here is the conversion between NCBI and UCSC. Note that if you have any alignments to patches that there is simply no UCSC equivalent. One of the many reasons not to use UCSC (avoid their annotations too).