Since you gave a prefix name for your index try this
Code:
$ ~/Desktop/NGS$ bwa mem -M -t 16 /path_to/hg19bwaidx /home/cmccabe/IDP/NA12878-NextSeq-S1_R1.fastq.gz /home/cmccabe/IDP/NA12878-NextSeq-S1_R2.fastq.gz > /home/cmccabe/IDP/bwa_reads.sam
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