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A. Lange & Söhne

I wrote about this topic awhile back,

 

Here (perhaps a shameless self-promotion...):

www.watchprosite.com

EDIT: After re-reading your question more carefully, with relevance to if there is any incremental changes to the L951.1 alone, then only point 1 below is relevant. The other changes are incremental updates as the L951 got upgraded to the L951.6 in the Datograph up/down later.

Though, I feel the writeup is a little outdated after seeing more examples online. The summary of changes visible for the movement (notably from L951.1 to L951.6):
1. Operating detent spring mounted on baseplate, now swapped orientation onto the lever itself (as circled in your pic). It appears this evolution also happens during the L951.1 period itself - as in both your pics which are both Gen 1 Datographs (non Up/Down).
There is yet perhaps, an even older iteration of the detent spring design which can be seen here: www.watchprosite.com 
2. L951.1 has 40 jewels, while L951.6 has 46 (evidenced by font on the bridge). I do not know where the extra 6 rubies go to.
3. Most notable change - L951.1 is a traditional, screw-poised and regulator balance. The L951.6 is a more modern, free-sprung regulatorless watch (thus, the swan-neck is to adjust beat error, not as a regulator).
4. L951.6 has a buffer detent spring built into the reset hammers (refer to the old article above)
5. L951.6 has an updated power reserve over the L951.1. I believe it is due to the removal of the stopwork maltese cross mechanism.

Regards,
skyeriding

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